Actually I'm pretty sure all you have to do is get him near the teleport(point A) and then click somewhere on the other side where the teleport leads him(point B).
He should go through and he doesn't need to learn the skill. This is how it works for me and he doesn't even know 1% of the miracle.
Hope it helps!
They will cast them if you see the message that your creature is curious and wants to explore. But that happens very rarely. And if they do cast one, chances are very slight that they will actually use it.
i can already imagine my tiger casting one near the town and another in the ocean then trowing people in it :upside he scares me i think he has issues :shocked
They will only cast one, so there's no worries there.
When I played CI Tyke would cast them a lot as a form of impressing and even if I called them to a place where there was a second teleport, Tyke would always ignored the one he cast and ran over. On the other hand if my creature was close to that teleport Tyke created, he would always use it.