There's actually one thing that has to be done first and foremost when it comes to pets: an auto-attack cancel.

Basically whenever you have a pet on Sic or Obey, it will always be using its basic attack/heal skill (fairies will automatically use Embrace on any target below 70% health), and whenever you want the pet to use a different skill (i.e. Enkindle, Contagion, Fey Wind, etc.), the pet will always always ALWAYS put its basic skill first and only follow your command once it's successfully cast its basic skill. As long as the pet control system doesn't have either a "Stop Cast" feature or is able to prioritize any other command over its basic skill, things like extra skills would be better off being cooldowns used solely by the caster without any pet involvement.