What if you could really talk with your pet ?

I think that animals have a sense of being able to communicate with each other, and we just can't tell what they are saying and how they are doing it. It is amazing how two animals that are completely different can form a friendship bond with each other, yet we see examples all of the time where that happens.
I saw one video where an elephant and a large tortoise had become friends, and you would think that those two totally different kinds of species could not possibly have any awareness of each other.
However, they would walk along side by side, and they obviously enjoyed each other's company. I really think that they had a communication with each other as well.
Maybe the elephant was telling the turtle what things looked like from six feet in the air, and the turtle was telling the elephant what things looked like from ground level ? ?

In any case, I know from my own experience that I seem to have a deeper bond with some animals that I have had than with other ones; so I really think there is some sort of a mental telepathy possible, if we can just learn how it works.