No, the best way to go about it is to say "get off" or "got it" when you grab the relic so that the people on plates know they can safely get off the plate.
Then all you need to do is go slam the vessel, 2 sword hits and he's down, then you meet your team either in the middle or up top.
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I meant would you rather I mention I can get to vessel before he spawns? I obviously tell everybody to get off their platforms once I've gotten the relic.