The word summon comes from Anglo-French somundre and Old French somondre (or semondre), meaning "to call, send for, or notify". It derives from the Latin summonere, meaning "to remind privately, warn, or hint to".
To summon is the correct word in this case. The fantasy meaning comes from thee power politics between one that summons (usually: a king) and the one being summoned (usually the serf).
I sincerely doubt that if someone hears 'summon' today, they think about Dungeons and Dragons-style summoning of fantasy beings. They more likely hear 'to be made to appear in front of [a state power / a court / ...]"
As such, current understanding is closely aligned to the etymological meaning.
Even summoning in fantasy tends to imply the entity being summoned has no choice in the matter. If anything, summoning in fantasy is usually stronger, in that there is a tendency for it to imply the entity is powerless to resist.
To summon is the correct word in this case. The fantasy meaning comes from thee power politics between one that summons (usually: a king) and the one being summoned (usually the serf).