Pets sit in your shoulder and boost stats. The ones you can find in chests are Slimes, Kebings, and Honeyings. They all boost your stats by +1. There are CS item pets that boost your stats by varying amounts.
As far as chests, you don't need any special skills or equipment as far as I know. I don't think I've ever tried opening one without a pickaxe on me, though. I keep one on hand.
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