This is the stupid man's question in response to your question: Do you really need the pet bar up? I realize you're probably using a pet health watcher...but are you actually fighting in a situation where the pet will need help?
If you're doing some sort of farming activity, I'd say no - use a Cu Sidhe. If you're doing something more exotic like PvP or Peerless/Champ robot pets, see TM's post.

LOL! well, I'm working on a tamer assistance script, and it monitors your pets health, and if it gets below a certain percentage it will attempt to vet if your within 2 tiles. I finally found a solution or so it seems to work...
Before i pull my pet bar, I can pull any other bar and that's my enemyid, then I can pull my pet bar and close the first bar and it will stay at N/A, even if I move around my pet's bar. But I put in an option to auto attack anything attacking me within 8 tiles, and it was stuck on my pet. now it's working great!!