I think it would be nice if once a quest was completed, the character that you did the quest for restored the health of your pets.

This is a good idea, but one that is even better is that when you pet levels up, it should be given full health at the new level. This has been a constant in every game that I have played through the years, including the arcade console games (like Guantlet for example). This would be a good change rather than when your pet is out in the world and levels and has taken damage during the battles, the pet is already behind the curve with diminished health even though they just leveled. I don't even see where the pet receives an increase of health between the difference of the two levels.....only the max health level is shown as being increased.

-Armangaria

I think both are good ideas, both at quest completion and at level up (not saying we should have both necessarily aha).

I have experienced games where they do not award health restoration at either, however. They're only brutal when you're in the middle of a time where it's hard to get out and fully restore health.

However, it's extremely easy to exit a zone and go back to a town like Esior or Saerielle and heal up with gold. Especially since half of the map operates on a system where you can exit an area simply by getting out of the map.
If you wanted to restore your health in the middle of say the Festival Zone or Astryl's Vale, you'd have to exit the zone, thus erase what progress you made in the zone. The cannot be said for Umbra Forest or Viridian Meadows at the moment.

The fact is, across all 3 towns right now, the gold amount to heal up all pets is the same. And personally, I think it's cheap enough to be affordable repeatedly when you figure out how to earn gold.
So I don't think this is needed, but a great handicap for later on when you're knee-deep in map areas that you can't get out of without risking a loss in progress.

This is something we'll look at when we revamp everything. Pretty much everything will be changing with the goal in mind of making it easier to complete the storyline and making battle/exploring more exciting and fun.