I believe most are referring to Hirge as comp for commands. You attack something and by that time Hirge has spammed its abilities and run over, the thing is dead, netting a waste of mana and abilities are put on cooldown.
Better companion AI sounds like the way to go (as complicated as that will be). We do have access to 'commands'.
What 'we' want is probably a use abilities toggle for comp or some sort of option to control how often we want them to use abilities. Sliders for each ability could be an easier way to implement such a thing, possibly under advanced companion UI.
e.g. Use heal at 50% hp instead of 30-40%. Use heal on me instead of you first. Toggle comp abilities -> rush the enemies. Use defense buff spell is damage exceeds x amount.
An auto-potion/item use function with limits and constrictions is also something probably wanted.
Fun fun fun~