If you can teleport yourself to there, there is actually no additional trick to get Momma Bosco up there as well. Try getting Sam closer to Momma Bosco before attempting to teleport, or try talking to her first, even though she'll still give you the same response. There seems to be a bug, though I got this one only once. I teleported back and again attempted to teleport onto the platform, and this time Momma Bosco came along with me.
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