Since ZOS wont fix the issue with these pets here is the easiest way for all you Sorc' and Warden's that just have to have all the GD pets up all the time.
You hit your (K) key, take your mouse pointer to the casting square with the pet icon in it, side the icon just off the square and put it right back in.
Pet is gone, but ready for use immediately.
Easy peeze, Japanessey.