Probably you might want to follow the MVC design pattern very strictly, and I do agree with you that MVC is a good thing. But frankly saying, I don’t see much benefit in your proposal in this particular case.
By writing “echo $model->post->title”, the view states that the model has some object called “post” and “post” in tern has some string attribute called “title”. It doesn’t state that “post” is a relational data of the model that has to be retrieved from a db table. All those details about the model are hidden from the view. Isn’t it enough?