The V menu should have it all, same key UT used. I think you can bind those commands to keys as well in the control config.
Also, if you got a headset or mic you can control bots with voice commands. I haven't used it myself. You press the mic activation key, I think it's F by default. Say the bots call sign, Bravo, Charlie, etc, and then the command you want them to perform: Defend, Attack, Cover Me, Freelance, Hold Position, Status, and Gimme (gives you their current weapon).
It's all in the manual if you need more details.