I belong to the group that would be only too happy to have pets mumbling, grunting, chirping around me - I'd prefer if they chattered more randomly, rather than when clicked/summoned etc.
But I can understand that I'm probably in the minority, and so the devs give us very quiet pets as a result :/
I'm not suggesting the Fleet should be a barnyard either, but even just having them chat away to the player, people would get annoyed, it seems. IMHO, anyway.