Get to the flag and fight on the flag.
That is your main role in almost every engagement. If fighting near a captured objective, you can then assist DPS in taking down the opponent. If your objective is in jeopardy, once again you should fight on the flag to prevent its capture. If you have enough people holding the flag, it may occasionally be a good idea to stand with your own team's support, guard a healer, and help them stay alive.
When skirmishing, putting guard on a strong DPS player on your team can help them stay alive longer to really crush the enemy (and see them driven before you!).