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There's a number of ways you could handle it.
The most 'legit' way I can think of would be the following.
#1: Replace one of your gear slots (steed for example) with pets.
#2: Add a number of new pets to the itemtype
#3: Create a new skill to summon pet
Using this you don't edit the interface in any way and don't really 'add' new systems. You DO then open up the possibility for summoning pets based on any existing mesh in the game, can improve their quality (compose, quality, bless, enchant, sockets) and you can handle all of the pet artificial intelligence via server side code and custom client skills.
But as fang said, the short answer is "no"
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