Marking Enemeies

[Small Upsetters]

Is there anything in Pathfinder or Starfinder like the D&D 4e Fighters Mark?

It's a mechanic I really liked. I'm just curious if there is anything like it in PF, or even a way to recreate any of its effects such as with the use of skills like intimidation.

[Bloodrealm]

The Slayer has a class feature called Studied Target. It might be what you're looking for.
Or, actually, after looking up the ability you mentioned, the Challenge ability of the Cavalier and Samurai would be a closer fit. As for the extra attacks, just take Combat Reflexes.
One other option if you want a sort of taunt is the Antagonize feat.

[Tinalles]

Not really.

Bloodrealm's answer gives some good options for vaguely similar effects.

If you want, you can always negotiate with your GM to add those mechanics in.