Get a piece of 3/4 inch hose, about 2' long, pass the rope through it and splice an eye. The you shove the pointy end of the boat hook into the hose and hang on to the rope and you have a large hard eye you can just place over the cleat. Make of the end on board on a midships cleat and leave the engine ticking over ahead and she will sit there sweet as a nut whilst you sort out your moorings.