So, is this the finished edit (containing two, instead of four, Joseph's mother) by eliminating an unnecessary reference to Alicia?
Miss Rosary appeared in the doorway and addressed Joseph's mother. “May I be of assistance, Your Majesty?”
“Rosary, get in here! Keep out of the way.”
As she cleared the room’s entrance, Joseph’s mother spoke into the air. “Moses, secure the doorway!” She nodded. “Then may God be with all of you." She hesitated, then spoke into the air again. “All right, Moses, close it up.”
The fix is to drop a Joseph's mother dialogue tag at the risk of reader confusion on whether it is indeed she who responds on the next line in the context that she is the only human being in the room and that Moses another AI would not say that. And to drop Alicia from specific benediction, if you intended that.
My original suggestion was not a re-write into Deep POV but only to have given Joseph's mother another appellation by Joseph himself rather than having to be stuck with Joseph's mother in sections that are supposed to be in 3rd limited Joseph. A limited sort of Deep POV, in which Joseph has given his mother a unique moniker, can have been a temporary shift into Deep POV but does have the drawback that readers who skim or have poor memory will be lost.