You can make Summon macros with Swiftcast > Summon or an Enkindle Macro with Rouse > Spur > Enkindle, but other than I can't think of a useful macro for pets. Letting your pet do it's own thing is a good way to start out, but if you really want to push SMN you will have to micromanage each pet for both DPS as well as utility, but that's the #1 reason why I play SMN. If you just want a particular pet's action on your hotbar then you can drag that action from the action menu.