pets are generally not so usefull. The only time when you want to take a pet in PvP is when you have a skill that requires one (eg [Heal as One], [Rampage as One]) or when you have a pet attack which synergises really well with your bar (eg [Hammer Bash] + [Bestial Mauling])
In PvE, pets are used for the same reasons, or as cannon fodder
All in all, don't waste your precious skillbar with pets too much
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