They will use it whenever they can, for example each time Hirge sees enemy, before she attack, she will use Arbenos Might if know it. So the only control on their skills you have while choosing them.
From my own experience it's for example bad idea to teach Hirge Intervention. This way if she dies, she will die again quickly and will be out of mana, till you use Recover or mana potions. So I personally prefer giving her passive skills.
Giving my companion rogue active combat skills is fine because active skills like kick and stab are used nicely by the AI.
But with Hirge the cleric, I only give her one active skill: healing. That way, she doesn't use up her mana using combat skills on every stray wolf, etc. we run across.
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