The Klingon Dictionary says tlha' means chase, follow. I would have no problem using it to translate pursue as well.
The word tlha', however, does not inherently include the implication of catching or attacking. You might tlha' someone if you are pursuing them, or you might tlha' someone if you simply go where they go.
As Captain Klaa said in Star Trek V: qIrq wItlha'taHqu' Where Kirk goes, we follow (literally, We really continuously follow Kirk).