For guardians, my general rule is "add three levels" to get a general idea of it's strength.
Also my only pets who can reliably defeat them have good genes, no red stats and at least one green or other nice gene like gracefulness. Even my best pets will still loose to mobs at the maximum level cap for the pets level sometimes.
Generally, for each pet, get an idea for what they can take on. Better genes make better fighters, worse genes mean you will have to stick closer to and below their level.
You don't have to go around everyone and wait until last, just watch their levels and avoid ones outside their "comfort zone" until last, and I always leave the guardians until last. I'll also tackle stragglers in order of level, unless the map is huge, awkward, and I just don't care.
Also, if I ever spot a magic shop or the building that gives experience, I'll go straight for it and avoid fights until I've used it. Same for the lab and pets with unresearched genes.
Build the sanctuary and ridinghall as soon as you can, and upgrade the ridinghall. Especially at higher levels and without the use of items, training for four hours in the hall is worth more experience. And unlike when it was released, it is affordable enough to be useable. (I think it used to cost 20s per exp! Now it's something like 8s)
Being able to restore them to full energy once a day helps too, cheaper in the long run than energy potions and reliably there.
I do like to have the pets I am training available to explore but will set them all up to train before I go to bed at night. If I have the silver.
Finally, if you find energy potions, hoard them! wait until you have a good scroll that grants bonus EXP and try to make the most out of that scroll.