If you're talking about SUmmoned creatures and Undead, they go away after a certain amount of time- the easiest way to get rid of them is to either collapse from exhaustion (they disapear) or rest for an hour (they disappear). The only exception to this is the Familiar, which won't affect your reaaction adjustment by NPCs but also won't go away until it dies.
Actually there are other ways. I heard this one at the official board. Didn't realize it at first. When un-summoning undead or any summon spells from level 1-4, just click the spell from the tab above you. I don't know what it is called. Anyway, just click it and they will go away. The familiar is not counted in that tab so the only way to dispell it is to use Disperse Magick. Click the disperse magick spell and then left-click your familiar. He will eventually go away. Etalis's advice works too.
At the top of your screen when a creature is summoned will be a spell symbol for each creature summoned. Clicking on this symbol will dispel the creature. It's a good idea to dispel them as quickly after a combat as possible or else any NPC mages in your party will waste fatigue points healing them.