Normally, in pve the companion will do the entire animation to hit a monster, so it will walk, up is head and after a brief moment, hit the enemy for damage. This makes it miss most of hits attack since monsters tend to walk away while before the headbutt finish the animation. I propose to change the animation to make it faster against monsters (not sure in pvp) and deal the damage before the animation completes. For the player it will look fine, since the damage numbers will fly as the animation completes.
Also make the companion “lunge” foward in its attack, so it can attack in a wider area (but keeping its normal AoE ratio), this also will aleviate the problem of most monsters just walking away.
This can be aplied to other summons like Salamion or Shoggoth