From what I have seen, the minions do attack on their own.
Also, there is no pause built into the game that I have seen. As far as I can tell, single player and multiplayer were built identically; one just connects to other players. As such, there is no pause on either one.
Edit: Really, F10 pauses the game in single player? Maybe I am blind, but I could have sworn that my skirmishes did not pause when I brought up the options!