The first time, you just call for the go-around and the PF is supposed to do it. Same with the second time, and maybe the third - But if the PF continues to be unresponsive, then you state that you are taking control and execute the corrective action. There is no implicit transfer of controls unless that is a particular operator's SOP. I haven't worked anywhere it has been, but I've heard of places where, for example, the PM will make the landing on an instrument approach because they'll be visual before the PF was.
United pretty much invented CRM and started training their crews on it in 1979 after the United 173 crash. In 1989, United 232 lost all hydraulic systems and thus all control over the flying surfaces, yet they managed to save 184 people. The actions of Captain Al Haynes, off-duty Captain Denny Fitch who had come up to the cockpit to help, FO Bill Records, and FE Dudley Dvorak were examined closely by the NTSB and they found that the crew used all available resources and worked together exceptionally well because of that CRM training which United had been doing, which prompted the FAA to mandate all airlines to have CRM training going forward.
Where the go-around was specifically called for, it was already FAR too late. The PM should be calling for the go-around no later than 500 AGL on final, and if it isn't executed, should be making the increasingly emphatic calls and then taking control by 200-300 feet AGL.
On the ground with 4000 feet of runway already behind you is far too late. Where "too late" starts depends on what you're flying - For us, it's after touchdown when lift dump is selected (the PF's first action after touchdown). Once that handle is down, go-around is no longer an option, or
this happens. Dunno what the specific point of no return on the 76 is.
That is exactly how it is supposed to work. That's one of many reasons why this accident is so egregious - The Captain either didn't recognize the wildly unstable approach or chose not to go around anyway, ignored several warnings about the speed from the FO, was still calling for config changes over the runway, touched down well beyond the touchdown zone, and several other mistakes. The FO did not (as far as we know at this point) call for the go-around at an appropriately early time.