You could come close to what you want with a combination of options:
" use the quickfix list/window for all cscope queries
set cscopequickfix=s-,g-,c-,d-,i-,t-,e-
" quickfix commands jump to the target buffer where it is displayed
set switchbuf=useopen,usetab
and a remapping:
" override the default <C-]> behaviour
nnoremap <C-]> :cs f g <C-R><C-w><CR>