是的，hope 用作及物动词时，其后通常只接不定式或that从句宾语。

英语习惯上不能说 hope sb to do sth，也不能像 make sb do sth 那样说 hope sb to do sth。

所以说 His father hoped him go to college 是错误的。

正如你所理解的那样，有时见到 hope sb do sth，可能是因为 hope+that sb does sth这种从句省略了that后的一种误解。如：

I hope you get better soon.= I hope (that) you get better soon. 我希望你早日恢复健康。

I hope you enjoy yourself this evening.= I hope (that) you enjoy yourself this evening. 我希望你今晚过得愉快。

但不可以说：

I hope him get better soon.

I hope her enjoy yourself this evening.

但可以说：

I hope he gets better soon.

I hope she enjoys herself this evening.