Is it permissible for an ordinary Muslim to supplicate with "O Allah, forgive me, have mercy on me, and join me with the the Most Exalted Companion"?

The meaning of "the Most Exalted Companion" is to accompany the prophets, the truthful, the martyrs, and the righteous in the highest degrees of Paradise. It has been authentically reported that the Prophet, peace and blessings be upon him, made this supplication at the time of his passing. It is permissible for a Muslim to ask Allah to join him with "the Most Exalted Companion" at death, or to grant him a place with the righteous whenever death overtakes him, while striving in righteous deeds to achieve that. It is not permissible to supplicate for death except when death has truly descended and the appointed time is near.