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Each battle that you win will yield experience for each pet that participated. However, deceased companions will not receive any experience (so make an effort to keep them alive by swaping in a different pet). Experience gains are based on your pet's level compared to the wild pet. Defeating a higher level opponent will grant more experience than a much lower level one, but be ready for a tough fight!
One thing to realize is that once you hit 15 you have a lot more options for speedy leveling. Right now (you seem to be level 9 at the time of this writing) you only have questing and grinding, which are inefficient. Once you get the ability to use the Random Dungeon Finder (often called LFD, Looking for Dungeon) you can queue for dungeons in between questing. Often one dungeon, up until 25 or so, will give you most of a whole level off the XP and quests within.
In addition to questing and running dungeons in the Broken Isles, players should also remember to visit their class hall, which is like the garrisons from Draenor, but themed around your character’s class.The quest lines in your hall provide valuable experience and open up important features, like artifact weapon upgrades, that will drastically up your character’s power.