Pretty much summed up!!
That dropped catch off Cook should be attributed to poor captaincy from Dhoni. Pujara is not a regular slipper at all. He has fielded a lot till now at short leg. You can't keep switching him from slip to short leg to slip and so on (as the commentators too said). Sehwag is more reliable in the slips and has even taken some blinders there (they showed that blinder he took against NZ behind Dhoni). Dravid was a great first slipper, but that doesn't mean his replacements should be the same.... Hard luck to Pujara! At this level, he should take it but the captain has to place the right fielders at the right spot.
I still have a feeling that with this pitch being of the slow and low type, England would need a 200+ lead (like barmyarmy said) to rest more easier. But if they go like this, they will get there by the end of Day 3 itself. And then India have to bat out of their skins to save the match.