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I'd like to hear any FAQ or official rulings on this idea.
For a case example; let's try a monk wanting to climb onto a Shemhazian Demon, for cool cinematics.
Suggested rules:
A creature needs to be at least two size categories larger than you in order to climb it.
It also has to have an anatomy that is able to support climbing (an ooze is questionable).
A succesful grapple check, followed by a free action release of the grapple, then a Climb check, DC equal to CMD of Shemhazian demon allows you to move to the top (if you have enough speed). You are not considered grappling the creature. You are considered as occupying one of the creatures squares.
You gain a +1 (higher?) to hit due to higher ground. I guess you could argue that the creature is as vulnerable as being prone (+4 to hit).