Lancelot or Kintoki?

These two are the only special partners I have, which one should I focus on? I am quite new and just begun playing actively a week ago. (Planning to main axe or spear)
Also what is a Seer's Verse and how does it differ from a summoner's scroll?
Thanks!
Also what is a Seer's Verse and how does it differ from a summoner's scroll?
Thanks!