DinosaursOnIce
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If your GM is willing to play ball, I don't see why not. The fluff text at least mentions they sometimes ally themselves with other creatures and will ride on their backs as a cloak.
The poor Cloaker will suffer though when you get into higher levels.
Edit: I'm not sure if there is any actual rules that cover it though. I'm not sure that you can wear a creature as a cloak (they also weigh around 100 lbs, so not light).