You and your animal companion must both take this stance to gain its benefits.

If you have Extra Attack, you may use this maneuver in place of one attack. You command your animal companion to move up to its base movement speed in a straight line toward a creature. If your animal companion ends this movement within melee range, it makes one attack against that creature. Your animal companion cannot take the Dash action and this maneuver on the same turn.

When a creature of up to one size category larger than your animal companion makes a melee attack against it, you command your animal companion to respond by harrying the attacker’s movements.

You command your animal companion to make a

Choose a creature of the up to one size category larger than your animal companion within 20 feet.

If you are within 20 feet when your animal companion is hit by an attack, you can use your reaction to call out and help it regain its fighting spirit. As long as it is able to hear you, your animal companion regains hit points equal to your level.

When a creature successfully damages your animal companion, you order it to retreat. As long as it can hear you, your companion moves up to its Speed toward you in the most direct course it is able to, stopping at the end of its movement or when you are between it and the creature that injured it (whichever comes first).

You command your animal companion to tactically lower its guard.

When damage from a successful attack roll would reduce your animal companion’s hit points to 0, you may move up to your base speed to position yourself between your companion and the  attack, moving your companion 5 feet if necessary, and take the damage of the attack instead.This maneuver does not cost your animal 
companion’s reaction.

On your animal companion’s turn, it makes a melee attack against a creature as it roars , howls, or makes some similar threatening noise.

You command your animal companion to switch places with a creature within 5 feet of it.

If you have Extra Attack, you may use this maneuver in place of one attack.

You command your animal companion to take a stance.

When a creature makes a weapon attack against your animal companion, your warning causes your companion to shift position, gaining a bonus to AC equal to your proficiency bonus and possibly turning a hit into a miss.

You command your animal companion to attack wildly on its turn. Your animal companion may take the Attack action to make a number of natural weapon attacks equal to your proficiency bonus.