The passive form of "He pleases us" is "We are pleased with him". In this transformation, the object of the active sentence ("us") becomes the subject of the passive sentence ("We"), the active verb "pleases" is changed to its past participle "pleased" preceded by the appropriate form of "to be" ("are"), and the original subject ("He") becomes the object of a prepositional phrase, introduced by "with". 
Here's a breakdown of the transformation:

• Active Sentence: He (subject) pleases (verb) us (object). 
• Identify the Object: The object is "us". 
• Make the Object the Subject: "Us" becomes "We". 
• Change the Verb: The verb "pleases" (present tense) becomes "are pleased" (present tense, past participle). 
• Introduce the Original Subject: The original subject, "He," is placed after the preposition "with" to form "with him".