It essentially depends on what you're doing.
My first ally (I don't call her a servitor at this point, because I consider her independent) was a large design with a pentagram in a circle, and then a number of deity-related and astrological signs written within various parts of the circle. Others I've done, however, have been very simple designs.
My advice would probably be to do what I did for the ally just mentioned. The initial, highly intricate metasigil can be considered the equivalent of a DNA helix. It can also be put in the equivalent of a philactery; you don't need to memorise it, and you don't need to carry it around with you. It is the overall blueprint of the spirit. For intelligent or versatile spirits, I consider this a must. The ally in question is highly intelligent, emotionally complex, and capable of fluent (mental) speech. As an individual she is considerably more intelligent than the norm for the fictional race (Draenorian Orcs) that she is modelled on.
On top of that, however, this ally also had a single core sigil at the center of the pattern, which was what I am able to use as the usual sigil for calling her in a pinch, although she also has a mantra which I use.
As a final note, I would encourage you to remember that when you create a servitor, you are in a very real sense creating an astral life form. I learned to some extent the hard way, about the degree of ethical and spiritual responsibility that is necessarily involved in such. Your decisions will determine the living conditions of the being you create, and will also determine whether or not said spirit causes harm to yourself or others...and they can and often do become capable of this, given sufficient energy and poor programming. Whenever I create a servitor that I intend to have sentience or anything close to it, I always mentally repeat the last part of Optimus Prime's request speech to Vector Sigma, after which the Aerialbots were brought to life.
"Let them think for themselves, to grow in knowledge and wisdom, and let them always value freedom and life wherever they find it."
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Magical Evocation. All the fun of train surfing, without having to leave the house.
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