Terrify/panic and stun all involve intercepting the enemy attacks and making them unable to attack for a short period of time. So no, terrify doesn't specifically block attacks, that's the result that all three effects have (panic, terrify, stun). What you experienced is explained by a bug (#18 if you want to check it on my signature link); certain bosses don't display the correct animations when they are panicked or terrified. Ursoth is one of them.
On topic, "massive" damage is nowhere near massive - your pet will deal more damage with the passive attack in the same time it takes for the AA to charge and land. The three-second time lag between the moment you press the AA and the moment it lands is also another issue since you can't use it to counter red zones. Like I mentioned above, Dovabear's statistically impressive but lacks heavily in the AA area since the terrify rate is roughly five to six times lower than Slag's and Samael's. Did you really think they'd put out a free Samael? Lol.
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