pretty late answer, ah well...
i prefer to just set the pet to the collabo AI and shift-click the enemy i'm not attacking once. this ensures the pet will keep hitting them (as i only really get multi'd by archer) without using any skills
Yeah, I do this, but I set my pet to 'best ai'. After my pet kills the monster, and is stuck in counter, I press my 'call the pet' shortkey, and it'll cancel counter and come to me.
As far as I know, the pet will usually go attack the first monster that aggros you from most of the pet ais, not sure if there's an ai to make it attack the second monster to aggro though.