Minions don't need to be brought out while in duty. Outside of potential tab-targeting complications, there wouldn't be any useful reason for minions to be taken out while in an instance, and they'd only add visual clutter.. The more players with minions out the more visually cluttered and confusing the dungeon would be for everyone else. Also I'd hate to see the effects of this on 24-player instances like WoD for ps3 players or those with less powerful computers.

I think minions are fine as is. I don't personally need one out while using my chocobo companion, but they're fun to have around while crafting or gathering or anything else I might do outside of those two things, so it doesn't seem that restricted to me. That could just be me and my personal playstyle though.