I think (repeat: think) that this example might work.
Here in the United States, we have something called Daylight Saving Time -- when we turn our clocks ahead one hour in the Spring.
Then later in the Fall, we turn the clocks back one hour to Standard Time (as we did last Sunday).
Here's my dialogue:
Tom: Well, Daylight Saving Time is now gone.
Mona: I know.
Tom: Why are you looking so sad?
Mona: Because I want it [Daylight Saving Time] to be back as soon as possible." ( = I want it to return)
Tom: Sorry, Mona, but you will have to wait until Spring, 2013.
I understand that if I say "I want him to come back to me" I will expect that he will come back to me on his own will.
And in the case of a book I can't say "I want it to come back to me" cause book isn't alive. I have got to say "I want it to be returned to me".
But can I say "I want him to come back" instead of "I want him to come back to me" without changing the meaning of the clause?
The idea's similar, so there's no important difference of meaning if your talking about you and your dog. There could be other contexts where you want someone to come back but not to you.