You should distinguish two things: the pressure itself, and the gravitation that it creates. First of all, why does it create some gravitation? Because energy does. It is not the mass of the Earth that pulls us down - it is the energy of that mass, $E=mc^2$, that makes us heavy and not flying but walking.
And the energy does that indirectly. First, it creates, "emits", a gravitational field, and next, that gravitational field tells us where to be pulled to. That is different from anything that energy could do to you directly - for example, acting directly, energy could heat you.
And the same difference holds for the pressure itself (its direct action) and its gravitational effect. For example, you can pull a spring. Then your hands would feel its tension directly. And if you stand near someone who pulls the spring, you would feel its indirect gravitational effect (it would be smaller by factor $c^{-1}$ of several orders, and it would attract or repel you from the spring).
That is what happens with the Dark Energy. It has negative pressure, and could pull us with it, but we don't feel it. It is compensated - the same way as we don't feel the atmospheric pressure, and deep sea fish does not feel the pressure too. But its indirect gravitational effect still remains. And we observe it by the overall pull of galaxies from each other.
The sign of gravitational effect is found by the sign of the usual gravitational effect of our positive masses and energies. The theory should be symmetrical with respect to time and space, and similar temporal and spatial quantities. Because of that, positive energy attracts; positive pressure attracts; and negative pressure, or pull, repels.