Butlers, as service NPC-type Sims, only offer a limited number of interactions (the usual Talk, Flirt, Tip, et cetera). So you
might be able to call your butler over (by putting him on one of your telephone's Groups) and do it that way, but other than that, it's not going to happen.
I myself wouldn't be inclined to bother, though; there's not a whole lot of time between his quitting time and his "ready for work again" time. But then again, a teleporting butler might actually help (even if none of my butler-employing Sims have managed to catch a ninja yet); my mad roboteer's butler is constantly cleaning up spoiled food because he's competing with two Servos and a MunchieBot to see who gets to feed the good doctor and his half-alien daughter
first. They waste a
lot of food.
