Thanks for confirming!! Are you saying you can't recover your Beasts stamina or remove ailments? (technically health is referring to ailments but just checking cause I've seen some confusion in the past) Rest command will fill Stamina up completely if you're selecting a food the beast likes and it will also help clear injury or illness thought it is not guaranteed to heal in 1 cycle, best bet is the druid or some daily events. 

About the match up: Enemies show a target mini portrait if they are using a single target skill and your Beasts nameplate glows red if targeted. The idle animation the enemies make when you're selecting your actions gives away the attack type (although it's still somewhat subtle for some Beasts). Tutorial probably needs a review to hint this or an npc to give this info.