I wrot a fairly long post, and then my web died, so here is the short version
I like pets, they cool, but not overly useful, to make them more usefull without changing any balance or anything I have the fallowing sugestion
A pet window, will display your pets name, health and have the fallowing boxes which you can check to control behavour patterns
Control (targeting)
tight: your pet will atack what you atack, if you atack something else, it will switch targets and atack that thing
loose: your pet will attack what you attack, but if you switch targets, your pet will not switch, untill its target is dead
None: your pet will attack whats closest to it
Range
heel: your pet will stay right next (agacent) to you
defend: your pet stay near you (nearby)
patrol: your pet will stay in the area of you
roam: you pet has no boundries
Charm animal will be used to provide 2 aditional comands,
"sic em!" your pet will atack your current target, regardless of control or range settings, aftwards it will revert back to normal
"here!" if you have no current target your pet will come to you.
this will allow you to pull without your pet stoping the oponenets advance midway or gathering unwanted aggro by putting it in heel or defend mode. If you want your disrupting lunge to go against the enemy monk instead of one of their wars have your control set to tight, or use the charm animal skill to "sic em".
F

, the charm animal key being used for multiple purposes has been stated, but i like the check off kinda thing where your pet would be a little more easily controlled. Also i'm still trying to figure it out, but when you call your target while attacking it your pet automatically runs to that target, or even have that enemy targeted, kinda like henchies.
Try enraged lunge {E} with symbiotic bond, call of prot and an alternative pet attack, doing 100s to wars