Hi .. there is no stateful command that I am aware of. This is a concept. The stateful table for example contains records of stateful connections traversing the PIX ... in other words the PIX keeps track of details such as source/destination address, source/destination ports ..etc for every connection.
established command is basically used to allow return traffic from an established connection using different protocols or ports.
In other words once the connection has been established, the return traffic can be allowed to traverse the firewall using different ports acording to the configuration you enter on the command.
I hope it helps ... please rate if it it does !!!