I keep Selene and Eos on Guard (she stays their even if use their abilities). Place them between the boss and casters and let them do what do best and heal. If you are in a small room place them in the middle. You won't usually need to worry about their health. However if you do cast the pet heal (blanking on the name) and use Heel to pull them out if it gets to hot so that they can heal up and then place them again.

If you and your group need to be on the move (large rooms) use Heel and keep them close to you while you stand between casters and tank. Place them when you can.

Placing them well will not require you to use their spells manually much at all which means you can control or attack when needed instead of constantly healing.

That being said I would like to make some macros with some of their spells though.