Rangers can only charm one pet, and its always with you as long as you bring the Charm Animal skill on your skill bar. If you don't, your pets doesn't come along. If they die you can use certain skills to bring them back to life, and they also come back when you change zones. Your pet gains experiance when you take it along and can reach lvl 20 just like your char.
I'm not sure if there is a limit to the amount of minions necros can make. Think its pretty much as many as you can maintain. Necro minions always suffer life degen, so if you don't heal them they will die on their own. They will travel with you between battles, but they usually won't last that long. You'll see how that works when you start playing with them, and you'll also get a feel for how many you can maintain at one time.
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