As long as they have Kurama's chakra, they can go into chakra cloak mode. Minato probably saw his son go into the red chakra cloak several times, and realized, every single time he did, it was because of an immense anger towards the opponent. What use would Minato serve if he couldn't control the red chakra cloak, and that led him to believe that that's not what a perfect jink looks like. By using basic deduction, we can assume he thought, mad = red chakra cloak, happy = perfect jink cloak.
Kin Gin bros and Sora probably didn't even know such a form existed, besides the red chakra cloak form. When they underwent the transformation, they were mad! Naruto learned to co-exist with Kurama, they both became happy, he is now in KCM/BM! *_*
