( ͡° ͜ʖ ͡°)
[b][u]How to:[/u][/b] Just reach max affinity with her. Do this by successfully flirting and romancing whenever you have the chance. Once you have reached max affinity, sleep in a bed when she is near. Once you wake up she will wake up with you. You also get some cool perk after doing that.
You're next Codsworth ( ͡° ͜ʖ ͡°)
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Yeah, you can do this with most of the companions.