I have always fought with my pet. To do this without grabbing oodles of hate from your pet, you do need to gimp your weapon a bit. Like you, I mostly fight DC/EM pets with the odd T or VT thrown in for fun (read: getting too cocky to live much longer). Instead of upgrading my weapon as soon as I can get a new one, I wait about 2 or 3 levels before equipping it. I also find using VIT and EVA items helpful for when I do steal hate.
I'm not sure what your subjob is, but I tend to mostly use WHM. After sending in my pet, I usually wait for it to hit the prey once or twice, toss out a Dia then come in swinging as well. I would use other enfeebles but they tend to be resisted more often then not so I don't bother wasting the MP.
Whilst helping a friend with the SJ quest.
Ranzin: You're killing them all to extinction.
Fenneshyde: Yeah, I'm good at extincting stuff.
Fenneshyde: It's what I'm best at.