As of currently the answer to your question is no. There is no real telling what NCSoft has in store for pets and why they gather SP. There has been an ongoing rumor since C1 when C2 was almost out saying NCSoft will allow you to teach pets new skills. Since as far as I know this has yet to be confirmed so it's just that...a rumor. It would be nice but don't count on anything like that happening anytime soon.