I just have 2 questions about my partner companion.

When I give my companion a task (chop wood for example) they will follow my order until I leave the "give orders" mode, at which point they stop the task and return to me. This makes things useless as I may as well do it myself. How can I have my companion follow an order whilst I do other things?

How can my companion pick-pocket? The "Attack [NPC]" is always available, even when in sneak mode.

Help would be appreciated.

I think this is just another overhyped feature to be perfectly honest. There is no way(if you are on a console) to get them to do as you wish I think. Of course I stopped using companions after the third gate smashed me in the face because of them.

I don't know if this will work while they're chopping wood, but if you talk to them during your assigning, and then back out of the conversation, they will continue doing the command. I got Aela to stay put in a chair this way. lol

Edit: You may have to choose the option for them to wait, maybe they will continue to chop away. I'd say experiment around with it, at least. Don't take my full word for it.