After finishing these two fights (I’m at the Nameless Puppet now🫠), however, I kind of feel like I’ve robbed myself of a “worthy” victory because it was soo much easier with the summons than without them.

There is no “right way to play,” just what you find most satisfying. There’s merit to both this and playing without summons.

If you don’t have the patience to pull off a more satisfying victory you can always go back and beat them solo later.