No~

a little gold, or, experience, or other points..

Take note that there's a difference between minions and pets.
Succubi are pets, so you can make them follow you.
Other enemies, like guards, are minions. Minions can't follow you.

Minions can be sent in minion missions, wich basically means you have to wait ~2 hours to get a reward in case they succeed. You get exploration points doing so.
Pets can follow you, and no, they can't fight. But they may get passive skills that increase your exp/money/exploration points/adventure points/honor points gained.

Generally, humanoids (like guards and kobolds) are minions, while animals -With exceptions like succubi- are pets or mounts.

If you want more informations:
Pets guide
Minions guide