Abu Bakr bin Ziyad al-Naysaburi (may Allah have mercy on him) said right after this hadith: This is an error, because the trustworthy narrators did not narrate it this way; rather, al-Hasan narrated it mursal (without the Companion).
Hadith Referenceالسنن الكبرى للبيهقي / كتاب العتق / 21434