In order to get the "Poor Beastie" trophy in Burly Men at Sea, you need to interact with the girls by the fire twice once you reach the Whale, interact with the ship and escape the Crocodile.
(Remember to make cross saves before trophy related decisions to drastically speed up your play throughs).
Here's the steps from when you enter the Whale, which is an unavoidable incident at the very beginning of the game:
-- Talk to the girls by the fire
-- Talk to them again
At this point you will unlock:
-- Head right and interact with the red bird, dialogue
-- Head all the way left, dialogue
-- Interact with the ship
At this point you will unlock:
-- Go right, dialogue
-- Hold R2 or R to escape
At this point you will unlock the trophy. You can either quit out to the village from the main menu or you can see the run through to the its conclusion, which will eventually put you back in the village anyway.