In order to give the summoned creature henchman type interactions through the radial menu, it needs to use a specific script set.
I believe these are the scripts I use
If you are using nwnx, then you can use nwnx_funcs to set these programatically at runtime.
However if you are not using nwnx, these must be set on the creature in toolset.
OnBlocked: nw_ch_ace
OnCombatRoundEnd: nw_ch_ac3
OnConversation: nw_ch_ac4
OnDamaged: nw_ch_ac6
OnDeath: nw_ch_ac7
OnDisturbed: nw_ch_ac8
OnHeartbeat: nw_ch_ac1
OnPerception: nw_ch_ac2
OnPhysicalAttacked: nw_ch_ac5
OnRested: Leave Blank
OnSpawn: nw_ch_ac9
OnSpellCastAt: nw_ch_acb
OnUserDefined: nw_ch_acd