The idea behind the companion command mode "I want you to do something for me..." is outrageously GOOD. However it is just horrible to actually use in practice due to the truly dreadful action-breaking interface.
What we need is:
1. Key bindable commands for companions
2. The following commands via KEY BIND):
toggle set 1
a. Back up (i.e GTF out of my way NOW!)
b. Come closer
toggle set 2
a. Stay there (i.e. hold position)
b. Come to me (i.e. cancel hold position)
toggle set 3
a. Only attack if I attack or if you are directly attacked ('passive mode')
b. Attack at will ('aggressive mode')
toggle set 4
a. Use melee (unless they are in 'hold position and under being attacked, in which case they should go ranged automatically from their position)
b. Use ranged (unless they are being attacked at melee range, in which case they should automatically go into melee mode to defend themselves)
toggle set 5
a. Start "I want you to do something for me..." mode
b. Exit " I want you to do something for me..." mode
The important thing is... NO MENUS!!!!!!!!!!!
I think you could reduce this down to 3 keys:
one to cycle between hold(passive)/hold(aggressive - use ranged if spotted, but don't move)/release hold
one to cycle between ranged/melee/auto
one to enter the "I want you to do something for me" mode
To get them out of your way, just use the third key and tell them to go somewhere else.
The only thing you're losing is the ability to make them passive or aggressive while following you, but I don't think that's too big a loss, since almost across the board companions are worthless at sneaking, you're better off just having them hold back.