I used to repair prefabricated alluminium tower components, and there we took a dent anything bigger than a ten pence piece as being structurally unsound, therefore it became part of the beer fund. That was for scaffold towers though, what people work on, not sure if the same would apply to alluminium bike frames, I suppose if serious stress was applied perpendicular to the dent, there is a possibility of the tube failing where the dent is, but how is that going to come about in normal use one could ask.
Straightening dented tubes, we used to have a tapered weight on a pole, the area would be annealed and the tapered weight driven past the dent, thus pushing it out from the inside, any residual unevenness was reamed off. This only conducted where tubes have to interlock with other tubes.
I think with welded alluminium bike frames, one is pretty screwed if it becomes dented, the same with steel, if you could not access an open face to drive a former down past the dent.
Dents in steel, perhaps you could build the area up with weld and grind down if the frame is to be coated with something. Pulling a dent with suction will only work if the sucking device can get a good seal, so chances not on a bike frame due to it's shape and diameter.
Personally though, minor dents like scratches, wear them with pride, at least it shows the bike is used and is not just an expensive parts hanger.