Here is 2 ideas for summoned minions and non-fighting companions.
the idea for the summoned minions is that instead of summoning the minion every single time. you auto summon it, when it have been in your slot for 2 seconds. semi passive ability. instead when you use the ability it should give you the option to put the minion a place where it should wait. and using the ability again should make it follow you again. that would be usefull in pvp since the minions does not sneak that well, also for bait maybe.
The second idea which was for non-fighting companions such as dogs is simply some ai. the dog should not constantly walk behind you but walk a little around in the area around you. maybe some sniffing movement also.