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You have to use the "recruit" function or whatever it's called. As long as they have a weapon equipped they'll fight hostile targets like mad animals.
You can also set the individual reactions of colonists to being attacked, the default is to run away. I personally don't bother with that, I just recruit anyone nearby with a weapon, kill the animal and then unrecruit so they can go back to work.
Then it just depends on what type of animal it is and how many of them there are.
If they are relatively harmless and single, you could do as the others above have suggested and send one hunter out to hunt it down.
If, however, they are relatively dangerous beasts, restrict all of your colonists to area 1, which would be an area you should already have set up, like all the interior of your base or your common room. In any case just keep everyone indoors. Then just allow your turrets to do their job. When the beasts come within range of the turrets, they'll be killed and your colonists can be unrestricted once more. Or if your turrets cannot kill them off due to too many of the critters then you can choose to ride it out and wait for them to wander off, which they'll do within a day.
Your people run away because the default combat behavior is set to flee, they will only stand their ground when drafted. Click the icon on a colonists info panel that looks like a stick man running, and it'll cycle through combat behaviours.
To do this click on a colonist and tap on the running person icon near the "i" icon.
You can also click on your assign tab and change it with all colonists.