Korean word order is different from that of English as you know. Make the main clause first, and add '으면' after getting rid of '다' of the verb. Lastly, add '좋겠어요' at the end of the sentence. You will not get made fun of by anyone then. We can go 우리 갈 수 있다 > 우리 갈 수 있'으면' > I hope we can go 우리 갈 수 있으면 좋겠어요 We could go 우리 갈 수 있었다 > 우리 갈 수 있었'으면' > I wish I could go 우리 갈 수 있었으면 좋겠어요 바라다, 희망하다 are kind of written Korean style, I hardly say 'I wish…blah blah blah' with these verbs except for when I speak in front of large groups of people. You aren't allowed to call anyone older than you 너, it's impolite.

for that context, maybe it's good to say, "너와 함께 갔으면 좋겠어요". sometimes i also hear people using "바라다" and "희망하다" to convey their hope. 바라다 is usually used to refer to an expected condition directed to another person but not the speaker him/herself. 희망하다 can also be inclined to personal hope.

i hope that~~ 나는 ~~을 희망합니다.( or 바랍니다) ex: i hope that we can go 나는 우리가 함께 갈수 있기를 희망합니다. 나는 우리가 함께 가기를 바랍니다. if you want to find on dictionary, try to find "희망하다, 바라다"