Definitely verbal communication with our pets is close.

One of our previous dogs was a popcorn lover. when the popcorn machine went on the counter, Moka would sit nearby, looking expectant. When the corn began to pop, and if none flew out of the popper out of the bowl (so he could get it) he would set up a series of sad and wheezy moans.

He would then turn to me and stare, accusingly, keeping up the wheezy moans.

If I said "Do you want some popcorn?" Moka would head right into the kitchen, and sit at the base of the counter where the popcorn maker usually went.