You can't make your pet focus heal. However, you can and should place her by the tank in most instances as they really shouldn't be moving out of her range at that point unless mechanics force them to do so. This won't make her focus heal the tank, but it allows you to keep a better eye on the DPS members of your group.
I know all too well how inconvenient the place command 'seems' at first as you spent 26 levels as ACN not really worrying about it with attacking pets. Especially on PS4, but now I can't stress how important it is to make your fairies' healing more efficient. It get's a lot easier the more you do it, and you'll separate yourself from so many SCH that just let their fairy follow them around.