What you can do is make specific hotbars for each pet and use the hotbar switch command in a summon macro. I don't remember what the command was but it changes your bottom #1 hotbar to the number specified.

i.e.
/summon eos
/hotbar switch 9

9: [embrace] [whisp Dawn] [fey convenant] etc...

/summon Selene
/hotbar switch 8

8: [silence] [light] [glow] etc...