You can see your pet's current TP by typing <pettp>.
You can use this ability before your pet has 100% TP.
Doing so will cause the pet to randomly use its TP move after 100% TP+ - meaning it may not use its TP move immediately upon reaching 100%.
Using Sic when your pet has at least 100% TP will cause your pet to use its TP move immediately instead of randomly.
However, if you use Sic with less than 100% TP on a pet that can use magic such as Worms or Hecteyes, it will use a random magic spell instead of waiting for 100%+ TP to use a random TP skill.