TOPIC: Spirit Pet question

If we can order Spirit Pets into combat, could we have them do non-combat actions too?

Example: We finish combat early on a tropical island, so I send a Spirit Pet Bliss Squirrel up a tree to fetch coconuts so the party can have Pina Coladas.

Note: What I actually did that run was use up a Polymorph Giant Spider potion to climb the coconut tree myself .... totally worth it, but I'd rather not use up out-of-print consumables.