If anyone else runs into this problem, I was able to solve it by unsummoning my familiar.
Unfortunately, it may happen even without a familiar (my character is a Fighter/Rogue.....)
It's quite annoying actually (along with the PC properties bug......)
Near as I can tell, the "Too excited to talk" or unable to rest issue comes when you or somebody in your party is still considered as being in combat (this includes a summon trying to bash an indestructible chest). Ordering your party to "Follow me" (V, E, E in the voice radial menu) should reset their behaviour if you're not actually in combat.
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Unfortunately, it may happen even without a familiar (my character is a Fighter/Rogue.....)
It's quite annoying actually (along with the PC properties bug......)