It depends on play style. I have a hunter that rides her boar companion and we use the hunter's initiative. But you won't be riding your panther, so you can use either way. It's entirely up to you.
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Technically, the animal companion (AC) and you have different initiatives. But a lot of people roll just once to simplify things. talk to your judge.
Flutter put out a 'Guide' thread about Animal Companions, and it covers everything in exhaustive detail.
http://paizo.com/threads/rzs2ql8b?Druids-Log-Animal-companions
Technically A/Cs have their own initiative unless they're being used as mounts. This is the way to do it if the GM is controlling the A/C (as they technically should be). If OTOH you're doing it the usual way (in practice, that is) where the player controls the A/C, most people (including me) have it act on the PC's initiative.
On the general topic, you might want to read the relevant bits of this section of Ultimate Campaign.
Flutter put out a 'Guide' thread about Animal Companions, and it covers everything in exhaustive detail.http://paizo.com/threads/rzs2ql8b?Druids-Log-Animal-companions
But if the OP isn't playing PFS I suspect a lot of stuff there won't hold.
Initiative is handled one of 3 ways.
1) Both the PC and the AC go on the PC's initiative. (This seems to be the most common, but the rules lawyers don't always like it. Sometimes the player doesn't like it if the AC has a much higher initiative bonus than the PC.)
2) Both roll separately and go separately. Can potentially be confusing especially if the AC is a mount or if they are setting up for flanking with each other.
3) Both roll and go on whichever has the worst initiative. (Rare, but I've seen it a couple of times and it kinda makes sense that the pair doesn't go until both are ready.)
As far as using it better.
There are plenty of buff spells you can cast on the AC.
Some people get confused and/or very slow when they have an AC that has multiple attacks or attacks with special abilities like stun, grab, trip, or poison. For them I recommend an AC that has one big attack like the hippo.
Train it with the tricks fro attack anything and flank. Then maybe flee or get help.
Oh, and always teach it the Attack Trick twice. Otherwise it will only attack humanoids.
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For simplicity sake, I always have the animal act with the character it belongs too, unless they want the animal to act separately. Like if they want the animal to fetch keys after the players have created a diversion on a different turn.
Also, get a small stuffed panther of cat stuffed animal. Set it on the table so you and the GM do not forget the cat is always with you. As that can happen frequently if you don't normally have an animal companion.
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Oh, and always teach it the Attack Trick twice. Otherwise it will only attack humanoids.
Not entirely true. They will attack humanoids, monstrous humanoids, giants, or other animals. They can be pushed to attack something different but that will take a high DC and a full round action vs the swift or free action for a trick.