Mostly, what the title says.

I loved Talkie Toaster Companion Share and Recruit for Oblivion, although it didn't always work very well...

What I want is the feature that you could assign a key to "do something"

For example, you could point to an enemy an click that button, and one of your companion attacked the enemy, if you were sneaking sneaking too... You could also make them open locks...

Is there anything like this?

Uhm... have you tried this one? http://skyrim.nexusmods.com/mods/29836

Companion Share and Recruit for Skyrim...

Fail...

Didn't even ...

Thank you, that's what I needed