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I can't remember whether that's allowed in the OC, but it certainly applies to the better fan-made modules.
Conversely, when you actually want companions to bash something, hit it yourself, then use the Attack Nearest command on the PC's radial menu. All companions will join in.
For example:
To tell all of your companions to stop what they're doing, press V-W-X ("Don't move").
To tell them to attack at once, press V-W-E.
To tell them to follow you, press V-E-E.
You don't need to guess these commands or know them by heart either, pressing V opens up a menu in the bottom left corner listing various submenus, e.g. W for combat, E for Exploration, and if you press one of those letters you get a list of command shortcuts from that subsection. With time you'll memorize the ones you use most often, and then it will be quicker than using the radial.
Just a suggestion though.
Oh, and btw, if you need to try and open a couple of chests or doors without your companions interfering, just tell them to stay put pre-emptively before you touch the locks. (Or tell all of them to stay put, then tell your rogue companion to follow you, so he/she will still try to help you.)
Alternatively, you can add keyboard shortcuts to quick slots as a text macro.
Text macros are a great idea in theory, but in my experience NWN already suffers from a lack of quickslots as it is. The spell-casting characters I play usually don't have any quickslots to spare; although I guess it could work for the fighter types (but since familiars were mentioned in the thread title, I assume the OP plays casters, too).
That being said, I think it should be possible to put radial commands in quickslots directly, so you would not need to do a text macro for telling the party to hold the spot or follow you, would you?
* EDIT: Granted, you could click on their portraits, too, I guess. In the end it just comes down to personal preference.