Feather tokens are another source of ideas. Fetishes and charms usually only work once, or give a small skill bonus, so to speak with your pet reliably, you need something more.
As to the aforementioned speak with pet charm, you could make it as a collar worn by the pet, and perhaps attuned to the wearer of a matching token. As a collar, it would be a neck item rather than a slotless item, and attuning to a special recipient should also reduce cost.
You could also make it command activated, where you need to touch it and speak the command word. This would cut the price a lot, but would also mean it is usually "off", so in combat it would take an action to activate.
A different possibility is a headband of intelligence. This would not only give some skill, but the increased intelligence gives an additional language. Now your pet can communicate in a language. Of course, speaking might be difficult, but listening would be easy. Even without the means to form words, grunts, growls, and movements can convey a lot of information, especially if you can ask for clarification or confirmation.
/cevah