My thought on all teleportation spells is to analogize them with flying spells. Essentialy in my Mythic Europe, teleportation is a lot like flying really, really fast with the added bonus that you can teleport into closed rooms, etc.
The point of this is no one (that I know) suggests that a ReCo flying spell would require requisites for the magus's clothings. Instead the wizard flys and the clothing goes with him because it follows the body. He can pick up a dagger from the table and he can carry it. But can't use the spell to lift huge boulder, because he couldn't lift a huge boulder naturally. If he tried to fly under a falling boulder and hold it up with his flying body he finds that he gets squashed underneath a falling boulder. Or rather, his sodales do, as he's not finding much of anything except the back of the line at a certain precious metal gate.
So I view teleportation the same way, things the body could naturally move go with teleporter, things the body could not move get left behind. The effect is without harm to the maga because of the nature of the spell.
For example, a fully dressed caster is tethered or chained by his ankle: why does his clothing 'port with him, but not the manacles? I treat it like a physcal tug of war (although there is no actual "force" or "tension" on the wizard's body). Since there is nothing holding his clothes back, his body can freely move them and they go with him. The chain however, is being held by the heavy iron loop set in the dungeon wall. Since the magus cannot naturally exert enough force to break the chain (i.e. the wizard's leg would break first), the spell stops trying to bring the mancle with it, and the wizard "slips free". From the magus's perspective, he disappears and reappears free from the chain with no ill sensation (or for story purposes, he may feel a slight tug on his leg, but no harm will befall him). From the prison guard's view the manacle tries to go with the magus, instantly and violently snapping out to its full length, before dropping empty to the ground. I imagine it looking not unlike movie "Jumper" when the jumpers would have a tether or something attaching them to a solid point. If pressed I would rule that although the chain flings out violently, it doesn't have any real "force" and if it struck a person it would feel rather like a flying art stopped by a parma. The chain touches the guard, and meeting his metaphyscial and physical resistance, falls inert.
Similarly, a ReTe spell will summon (or teleport, or cause to fly, or move in other ways) most daggers, even if the hilt is wooden, because the hilt naturally moves with the blade.
In the example of a familier, the maga would probably have little trouble lifting him. But if your familiar is an elephant, then your going to have to leave it at home.
PS I apologize for spelling, grammer, and general lack of clarity- I'm running on way to little sleep today.