There are two main actions you can take to prompt this.
Google My Business
Update your business details on Google My Business so that you have a valid local listing to appear on the right side of search results, as well as in Google Maps.
If you previously used Google Places for Business or Google+ Pages Dashboard to manage your business information, your account has been automatically upgraded to Google My Business. Google My Business makes it easier than ever to update business information across Google Search, Maps and Google+.
This will tie in with a Google+ page for your business, though the company address, logo, URL, & contact details are the important bits.
Implement LocalBusiness Schema into your website. Tagging the details on your website will corroborate what you have set with Google My Business and indicate to Google what to show as a rich snippet with your search results.