Familiars and totems are one and the same.
In the classical sense however a familiar is a messenger sent by the person to do their bidding. However that would be in old english and relate to the story book kind of witches.
As for finding your totem, think of animals that you see most often in your dreams or meditation much like Moe, or what animals are you most drawn to like Robin. Often people in the know will tell you what animals are following you, I went to pow wows for years when I lived in NH, I remember walking into a booth and someone looked at me and said "Who brought the bear in here?" (Obvious to say but my main totems are Bear and Dragonfly)
There are also some totems that will follow you for a while when you need the message. There ws a time when I was getting nothing but black panthers for nearly a month. Dreams, books, television, conversations, panther panther panther. I finally took the hint and looked up it's meaning. It is thought to be maternal in nature and I cried when I realized it was the anniversary of my Nana's death.
Lately I have been getting foxes and lots of them, in stories from others, shape-shifting from leaves to a fox face, real ones on the road side.
There are many internet guides that can give you a basic meaning to the animals surrounding you. My favorite is a book by Ted Andrews called Animal Speak I HIGHLY recommend it for anyone's book shelf. It also has guided meditations if you need help reaching your totem animals.
Good luck!