An interesting and useful feature of the minor pentatonic is that the notes work well over all 3 chords of a blues progression. For example, over a D chord, the D note of the A minor pentatonic is obviously the root, so it sounds good, but boring. A is the fifth of D, also good sounding but also pretty safe and bland. C is the flat 7th, safely tasty for blues. G is the 4th, edgy but not too out there, like mass produced goth clothes or a suburban white girl with dreads. It can work in the right context. And the E is the second,, spicy. But McDonalds spicy, not too scary.
With an E chord, the E is the root, the G is the flat third, the A is the fourth, C is a sharp 5 or flat 6 (ooh) and D is the 7th.
For completion, over the A, A is the root, C the flat third, D the 4th, E the 5th and G the flat 7th. All solid choices, which is why they were chosen.
So, just use the A minor pentatonic notes over all the chords - but notice the function and sound of each over a different base chord. I'd recommend using a looper and ears for that. For example, C will sound sad over A, bluesy over D and saucy over E.
What your question implied you are thinking about is covered in the Jazz Up Your Blues course.