Best way to do this is wait until the end of the Single player story (as long as you take option C). You cannot ring one of the characters up then pick them up then call the other person, it has to be done this way.
I.E. Michael makes a "hang out" call to Trevor, Trevor says yes. You then call Franklin and ask him to "hang out" as well. Pick both of them up and cause mayhem and destruction to attain a 3 star wanted level, all you have to do now is survive it.
*EDIT* Thanks to Wanadran for also saying that you get an instant 3 star wanted level for driving into the Los Santos Airport if you do not own it. For some reason I forgot this.
Once done the trophy will pop. Good luck.