/summonpet [pet name] -- if renamed, use that name
/use Spirit Wand
I can't /tar any companion, however, even outside the macro. I don't think it's possible.
Still, you'll get a hand cursor to select your target.
Note that if you have a summoned pet and it happens to be targeted, you'll waste the cooldown and dismiss that pet.
I wait for a first post or comment saying directly "bring back MoP" in the context of pet content.
Unless there's already one, I'd like to see it.