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Strictly speaking, we're summoning fey. "You summon fey spirits that take the form of beasts" Fey have at least 10 int, I guess that's how they can understand any verbal command.

"Your familiar acts independently of you, but it always obeys your commands." I'd assume my DM would let my little imp obey me, and perhaps READY the help action until I attack?

This is why invisible imp is so good as familiar - it's invisible, thus hard to hit, and when it is damaged, it'll have mage armor for 16AC cast upon it, 10hp (plus whatever I give it from my Aid spell), immunity to fire and poison, has resistance to normal damage, and advantage on saving...