Good question Otis. If there is no way to get to buried wood or metal plates where you want the cleat to go, I'd suggest this: the holes be drilled oversized, the interior foam dug out for a good bit around each hole and then 5 minute epoxy spread around in the dug out areas to seal the foam.
How big to make the dug out, who knows, but any increase in size will add more strength than if you just drill a hole and screw in a fastener.
I don't know if the foam that is used in these boats will melt when epoxy is poured in or not, but by using 5 minute epoxy and waiting a long as is possible before it starts to harden and then coating the inside of the hole with it, minimal melting will occur, if any. Then, once the 5 minute epoxy has hardened, then fill the hole with regular epoxy, using microfibers to strengthen it. Silica can also be added if you want to minimize flow.
Maybe someone else has an easier idea.
Rudy and Jill
Briney Bug- a 34 foot sail-assisted trawler
850-832-7748