My opinion: absolutely
It worked in fo3, it could work in tes 5 too.
But if pets, why not marriage? Or even CHILDREN!
Just saying, it worked in fable 2...
A pet wolf would be good... you have to tame it by yourself
A pet bear... tame by yourself, wanna see it in the game.
A pet... rat.
Or a pet dog which you will train as your guard dog.
Also, followers. In oblivion followers like Adoring Fan just ran away in fear when in combat... I want something like... you can hire a bodyguard...