I know you can swap to a bar without the pet skill, but if you have the pet on both bars you have to go into your menu and remove the actual skill itself, (something you can't do during combat for some mechanic reason π)
Apparently PC players have the option to click on their pet in some way to disable it. Is there something similar on console? It's silly you have to open up your menu, go to your bar, remove abilities, then replace them just to disable an attack so you can sneak past something. Or just being stuck with it until it dies if you're not wanting it to attack a certain enemy.