I think there's some misunderstanding here.
If you're away from home, you can use the truck as you see fit. However, you must log it as driving. If you're starting off at home, and want to take it on a vacation, you can use it as a personal vehicle. However, you have to cover up all DOT numbers and put a sign on it saying "Not for Hire". At the same time, I wouldn't pass by scales, as the DOT has no way of knowing it's being utilized as a POV.
The way I was told was... Once you leave your terminal (home) with the purpose of using the truck commercially, it continues to be a commercial vehicle until you return to the terminal (home). If you leave home with the truck as a POV, it stays a POV until you use it commercially.
Regardless of the DOT rules, your company may have alternate rules. Panther wants you to log regardless of it being a POV or commercial use truck. Personally, I wouldn't mess up my vacation by logging. Then again, I wouldn't take my truck on a vacation LOL