So only if they warlock is harmed he attacks then if you just leave him on defensive. Did you spec out of Empowered Imp and Demonic Power?
To be clear, if you put /petattack in your macro, the imp casts very rarely it seems. If I break down my damage in a fight I can see the imp getting a shot off or two. Likely during movement and fears, etc.
I could see people that manually assist always doing a:
/assist focus
/stopmacro [nocombat]
/petattack
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