If it works the same as the console (and it does as far as I can tell), you can't pick who you team up with as such. Unless your buddy leaves their summon sign somewhere obscure and you get lucky with the co-op RNG. It's a really neat system when it works though, just difficult/impossible to play directly with friends.
Edit: and as pointed out, it's a fundamental part of the atmosphere of the game, which is intensely lonely with short bursts of camaraderie.



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