Two points:
* You do not have to specify the whole pid+session name (screen accepts a reasonable abbreviation).
* You may get better results with the `-x` option.
From the manual page:
> **`-r`**
> sessionowner/[pid.sessionname]’ Resume a _detached_ screen session.
>
> **`-x`**
> Attach to a session which is already _attached_ elsewhere (multi-display mode). Screen refuses to attach from within itself. But when cascading multiple screens, loops are not detected; take care.