There is nothing special you need to do to get this achievement (assuming you are working on completing all achievements). As you progress through the boroughs taking over each section you will be getting credit with the various associates. Once you've completed all tasks for a specific associate you should get this automatically.
For me this popped once I completed the last child liberation activity. I didn't even 100% them all (I missed one), but it still took me to level 5 loyalty with Clara and the achievement popped.