No, I actually started a thread about this because I really think this should be an option. As it stands you get sp based on your chocobo's rank number and seeing as the cost of each consecutive ability goes up by one, the only way you can reach the last trait in a talent tree is by going full force into it and speccing nowhere else. This is definitely undesirable because seeing as you want your companion to complement certain roles and to test out different styles it feels too unforgiving not to be able to reselect things =/.