Try pressing shift-down to shift the pet hotbar actions to your main hotbar and you should be able to use them from there? Depending on which hotbar you previously switched to you might have to hit it multiple times to cycle through to it. Shift-up works too, but cycles in the opposite direction and is handy when you're done and want to go back. I do this for all situations where the instance or mount actions appear on the pet bar by default (e.g. mounts during beast tribe quests) in order to move them to my main bar to be able to just use buttons 1-4 or whatever for them, but it may work in this situation.