Let's see what happens when we unitarily evolve some initial state $|\psi\rangle\otimes|\alpha\rangle$ over time, where the first mode is for the atomic system and the second for the bosonic mode. The evolution is to
$$|\Psi(t)\rangle=U(t)|\psi\rangle\otimes |\alpha\rangle=e^{-it (g\sigma_+ a+g^*\sigma_-a^\dagger)/\hbar}|\psi\rangle\otimes |\alpha\rangle.$$ We will use a series expansion for the exponential and some commutation relations to attain the desired result.
First, let's show that the probability the field ends in the same state $|\alpha\rangle$ is approximately unity when $|\alpha|$ is sufficiently large. To do so, we compute
$$P(\alpha)=|\langle \alpha|\Psi(t)\rangle|^2=|\langle g|\otimes \langle \alpha| U(t)|\psi\rangle\otimes |\alpha\rangle|^2+|\langle e|\otimes \langle\alpha| U(t)|\psi\rangle\otimes |\alpha\rangle|^2,$$ equivalent to tracing out the atomic system using the $\{|g\rangle,|e\rangle\}$-basis and projecting the resultant state onto $|\alpha\rangle\langle \alpha|$. Expanding $U(t)=\sum_{n=0}^\infty \frac{1}{n!}(-\frac{i t}{\hbar}H_{int})^n$, there are lots of terms to compute:
\begin{align}
\langle i|\otimes \langle \alpha| \frac{1}{0!}(-\frac{i t}{\hbar}H_{int})^0|\psi\rangle\otimes |\alpha\rangle=&\langle i|\psi\rangle=\langle i|\frac{1}{0!}(-\frac{i t}{\hbar}H_{c})^0|\psi\rangle,\\
\langle i|\otimes \langle \alpha| \frac{1}{1!}(-\frac{i t}{\hbar}H_{int})^1|\psi\rangle\otimes |\alpha\rangle=&\langle i|(-\frac{i t}{\hbar}H_c)^1|\psi\rangle,\\
\langle i|\otimes \langle \alpha| \frac{1}{2!}(-\frac{i t}{\hbar}H_{int})^2|\psi\rangle\otimes |\alpha\rangle=&\frac{1}{2!}(-\frac{i t}{\hbar})^2\langle i|\otimes \langle \alpha|(g^2\sigma_+^2a^2+g^{*2}\sigma_-^2a^{\dagger 2}+gg^* \sigma_+\sigma_- a a^\dagger+g^*g \sigma_-\sigma_+ a^\dagger a) |\psi\rangle\otimes |\alpha\rangle\\
=&\frac{1}{2!}(-\frac{i t}{\hbar})^2\langle i|\otimes \langle \alpha|(g^2\sigma_+^2a^2+g^{*2}\sigma_-^2a^{\dagger 2}+gg^* \sigma_+\sigma_- (a^\dagger a+1)+g^*g \sigma_-\sigma_+ a^\dagger a) |\psi\rangle\otimes |\alpha\rangle\\
=&\frac{1}{2!}(-\frac{i t}{\hbar})^2\langle i|(g^2\sigma_+^2\alpha^2+g^{*2}\sigma_-^2\alpha^{*2}+gg^* \sigma_+\sigma_- (|\alpha|^2+1)+g^*g \sigma_-\sigma_+ |\alpha|^2) |\psi\rangle,\\
\approx &\frac{1}{2!}(-\frac{i t}{\hbar})^2\langle i|(g^2\sigma_+^2\alpha^2+g^{*2}\sigma_-^2\alpha^{*2}+gg^* \sigma_+\sigma_- (|\alpha|^2)+g^*g \sigma_-\sigma_+ |\alpha|^2) |\psi\rangle\\
=&\langle i|\frac{1}{2!}(-\frac{i t}{\hbar}H_c)^2|\psi\rangle\\
\vdots&.
\end{align}
Other than expanding terms, liberally using the eigenvalue equations $a|\alpha\rangle=\alpha|\alpha\rangle$ and $\langle\alpha|a^\dagger=\alpha^*\langle\alpha|$, using $\langle \alpha|\alpha\rangle=1$, and recollecting terms in $H_c$, the extra manipulation used in the $n=2$ case is that $a a^\dagger=a^\dagger a+1$ and the approximation $|\alpha|^2+1\approx |\alpha|^2$. So far, it looks like the action on $|\psi\rangle$ is the same as that of the "classical" unitary $\exp(-i H_c t/\hbar)$, at least for the first few terms.
Now we need to formalize this approximation for arbitrary orders $n$. When expanding $H_{int}^n$, each term in the polynomial will be a product of $n$ factors that either take the form $g\sigma_+a$ or $g^*\sigma_-a^\dagger$. Every time $aa^\dagger$ appears in this product, it can be replaced by $a^\dagger a+1$ to move all of the $a^\dagger$ operators to the far left and all of the $a$ operators to the far right. These movements can happen a maximum of $(n/2)^2$ times (if all $a$ start on the left of all $a^\dagger$ and there are an equal number of each). After the movements, the operators all see $\langle \alpha|$ on the left and $|\alpha\rangle$ on the right, so we can use the eigenvalue equations to replace the operators by scalars. When it moves to the left or the right, each $a$ or $a^\dagger$ remains the same, the total number of each operator remains the same, so the coefficient of any term like $(g\sigma_+)(g^*\sigma_-)(g\sigma_+)(g\sigma_+)\cdots(g^*\sigma_-)$ will be $\alpha \alpha^*\alpha\alpha\cdots\alpha^*$, for example, if we ignore all of the $+1$ factors that come from the commutation relation. This directly yields the same results as $H_c$.
In general, how can we guarantee that ignoring the results of the commutation relations will be valid? Since each term with a $+1$ can also be put into the normal order, it will also eventually be replaced by a product $\alpha^k\alpha^{*l}$ for some nonnegative integers $k$ and $l$, but the degree of this monomial will always be 1 less in each of $\alpha$ and $\alpha^*$ than the $a^\dagger a$ term it came with. As such, if the term that retains all of the operators is $\alpha^k\alpha^{*n-k}$, the next leading order term will be $\alpha^{k-1}\alpha^{*n-k-1}$. There can be at most $(n/2)^2$ such correction terms, so the magnitude of the classical term is $|\alpha^k\alpha^{*n-k}|=|\alpha|^n$ and the magnitude of the leading correction term is at most $(n/2)^2|\alpha|^{n-2}$. This pattern continues, the next order correction term has magnitude at most $|\alpha|^{n-4}$ and can occur at most $((n-1)/2)^2$ times. Even if we round up and say each of the correction terms always occur $(n/2)^2$ times, all of the corrections will at most sum to $\sum_{k=1}^{n/2}(n/2)^2|\alpha|^{n-2k}=(n/2)^2\frac{|\alpha|^n-1}{|\alpha|^2-1}$. For any $n$, there is a value of $|\alpha|$ sufficiently large that these corrections are negligible, with
$$\frac{|\alpha|^n}{ (n/2)^2\frac{|\alpha|^n-1}{|\alpha|^2-1}}\approx \frac{|\alpha|^2}{ (n/2)^2}\gg 1.$$ We can thus conclude that, for sufficiently large $|\alpha|$,
$$\langle i|\otimes \langle \alpha| \frac{1}{n!}(-\frac{i t}{\hbar}H_{int})^n|\psi\rangle\otimes |\alpha\rangle\approx \langle i|\frac{1}{n!}(-\frac{i t}{\hbar}H_{c})^n|\psi\rangle.$$ This allows us to re-exponentiate to
$$\langle i|\otimes \langle \alpha| U(t)|\psi\rangle\otimes |\alpha\rangle\approx\langle i|\exp(-\frac{i t}{\hbar}H_{c})|\psi\rangle$$ and, since unitary operations preserve the norm of a state, we find
$$P(\alpha)\approx |\langle g|\exp(-\frac{i t}{\hbar}H_{c})|\psi\rangle|^2+|\langle e|\exp(-\frac{i t}{\hbar}H_{c})|\psi\rangle|^2=\langle \psi|e^{\frac{i t}{\hbar}H_{c}}(|g\rangle\langle g|+|e\rangle\langle e|)e^{\frac{-i t}{\hbar}H_{c}}|\psi\rangle=1.$$
After establishing the above, the effective Hamiltonian is almost trivial. We know that the field stays in approximately the same state $|\alpha\rangle$ as the state in which it began, so tracing over the field mode is almost equivalent to projecting it onto $|\alpha\rangle$. Specifically, if we trace out the bosonic mode in an orthonormal basis that includes $|\alpha\rangle$ and states orthogonal to it (this is not the usual identity formed by overcomplete coherent states, this is partial trace in some specific basis), the probability of obtaining any of the orthogonal states will be approximately zero because the probability of obtaining $|\alpha\rangle$ is approximately unity, so
$$\mathrm{Tr}_{field}(|\Psi(t)\rangle\langle \Psi(t)|)=\langle \alpha |\Psi(t)\rangle\langle \Psi(t)|\alpha\rangle+\sum_{n}\langle \lambda_n|\Psi(t)\rangle\langle \Psi(t)|\lambda_n\rangle\approx \langle \alpha |\Psi(t)\rangle\langle \Psi(t)|\alpha\rangle$$ for some set of orthonormal states $\{|\lambda_n\rangle\}$ that are all orthogonal to $|\alpha\rangle$ and span the kernel of $|\alpha\rangle\langle\alpha|$. But then this is a quantity that we have already computed, because we know that
$$\langle \alpha |\Psi(t)\rangle\langle \Psi(t)|\alpha\rangle\approx e^{\frac{-i t}{\hbar}H_{c}}|\psi\rangle\langle \psi|e^{\frac{i t}{\hbar}H_{c}}.$$ So the evolution of the atomic state $\mathrm{Tr}_{field}(|\Psi(t)\rangle\langle \Psi(t)|)$ alone indeed looks like a unitary evolution under the effective Hamiltonian $H_c$.
There are extra questions of convergence that are more subtle. If $|\alpha|^n$ is really that large, do the different terms in expanding the exponential conflict with each other? At short times or small interaction strengths they won't be, if we take $|tg\alpha/\hbar|\ll 1$ even though $|\alpha|$ is large. At sufficiently long times, deviations from this approximate (semiclassical) model will be seen, such as the famous collapses and revivals in the Jaynes-Cummings model. The correction terms will be checked by the $1/n!$ that will always eventually cause $|\alpha|^n/n!$ to get small for a sufficiently large $n$, so we don't actually have to worry about an infinite number of terms here for any finite time or finite yet large coherent state strength. And the correction terms from operator ordering won't all be as large as the maxima I used, so their effects are even smaller than the rough bounds used here.