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I know, many people are seeking for the mod that can give you the whole new commanding system
Now you can stop looking because this mod can provide you that.

http://skyrim.nexusmods.com/mods/20721

you can command your minions without opening the magic screen, just press 1 button[that you choose], and they'll do what you what you want.
in the new version of the mod, you can also tell your minion which target you want them to focus on.

This mod also provide you a lot of things,follower system's just one of cool features of its, you should check on the mod's page for more information : )