Quick suggestion/idea.
Maybe think about some kind of combo system. For example, your pet has 2 or 3 basic skills. Your order the use of one of these basic skill. Then, if you use your main weapon skill #2 for example, both you and your pet perform a bonus “combo” skill. Some cool combo skill ideas would be things like :
1) your pet use some kind of leap skill to your target
2) you use Sword’s skilll #2, Hornet Sting (leap backward)
=> 3) your pet launches your opponent to you as you ready a stabbing move; you impale the target dealing heavy damage.
Sorry about my english, i’m not a native speaker. I hope i made it clear.