To answer the question about "over HP", I have never noticed getting additional mana back from my pet, even when he is buffed with FoS and STA. I assume the calculation is always % based, regardless of the actual HP pool. That would make the most sense, because pets have a wide range of HP pools. It would be a lot more effort to compare the pet's current HP to the actual base HP of the specific pet, including it's randomized level.
This does mean HP buffs have a small benefit, however. The larger your pet's HP pool, the less % health they lose per hit. This means you have a longer window to reclaim energy on a pet, and still get a good chunk of your mana back, even when they are not at 100%.
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