Commoners rear animals; adventurers don't bother
The question covers the limits of rearing wild animals using the skill Handle Animal: a single animal handler can simultaneously rear three of the same kind of animal. How long until the animal handler's actually domesticated these animals is up to the GM.1
But, according to the rules, the only advantage to rearing an animal—that is, raising the animal by hand essentially from birth—is that afterward the animal's domesticated. Officially, all that means is that folks that are untrained in the skill Handle Animal can make Charisma checks instead of Handle Animal skill checks to handle and "push" that domesticated animal. (While rearing the animal, the animal handler can simultaneously teach the animal tricks, but any animal handler can teach the animal tricks without rearing the animal, too.)
So, for example, a typical level 1 commoner without the skill Handle Animal can still save his miserable life by succeeding on a Charisma check (DC 15) to have a domesticated cat that knows the trick down perform that trick. (Unlike real life, Pathfinder cats are surprisingly easy to train, and, also unlike real life, commoners who don't train their cats in the down trick die.)
Rearing animals is for commoners who worry about their incompetent families getting overrun by their herds of dire goats. Rearing animals is not for adventurers. Adventurers grab any old animal (y'know, like a tyrannosaur or blue whale—and, yes, maybe literally), either convince (magically or mundanely) the animal to stick around or confine the animal, and just train the darn thing to perform tricks, domesticated or not. Because adventurers are hardcore that way and, if they're doing this, either have a bunch of ranks in the skill Handle Animal or know that they can kill the animal if it gets out of line. Or both.2
Commanding a group of animals
Handling an animal so that it performs a trick is a move action, but animals continue to perform a lot of their tricks after they've been handled, like the tricks defend and menace. A town can be locked down by a careful, skilled animal handler commanding cats (or dire goats) trained in those two tricks (and maybe down, I guess). (Every high-level animal handler should be disappointed that the quick runner's shirt only allows an extra move action to move.) However, the pair of move actions a typical character gets each turn is insufficient for managing a horde of creatures, and an adventurer's standard action is almost always better spent.
The GM may obviate the need for this move action and allow an animal to follow (generally and to the best of its understanding) the commands of a creature that can both communicate with it and to whom the animal's disposition is better than indifferent. The behavior of such an animal should be unpredictable, however—it is, after all, untrained and, if it's of value in high-level combat situation, probably undomesticated. The most likely way of achieving all this is through a combination of the spell speak with animals and either the spell charm animal or the extraordinary ability wild empathy.
1 The Player's Handbook (2000) for Dungeons and Dragons, Third Edition provided slightly increased granularity with regards to training domesticated and wild animals and also provided a baseline time (1 year) for rearing animals that didn't otherwise have listed rearing times. The Player's Handbook for Dungeons and Dragons 3.5 and, therefore, Pathfinder doesn't include such information.
2 Bear (ahem) in mind that this a ruthless rules analysis. The psychological and narrative impact of having reared an animal is beyond the scope of the rules. Also beyond the scope of the rules is the advantage to society if anyone can tell a domesticated dire goat down and have it, with luck, obey. Wild dire goats are stone cold killers.