I have left the "set focus" as Alt-F and set the hotkey to be my middle mouse button. I will target my companion normally and press Alt-F which sets him up as my focus target. After that, regardless of what I have targeted, when I hold down my middle mouse button and press my heal spell hotkey, my companion gets healed. However, my main target doesn't change -- so if my next action is a damage ability, it will do damage to whatever I am attacking. If I don't press the middle mouse button, and I am targeting an enemy, I will get healed rather than my companion. However, it doesn't always work very well.