As an animal communicator and psychic, I'm able to see, feel, hear, and know what an animal is communicating to me. Also, being clairvoyant, I can see an animal's aura and essence. I teach people in my workshops how to look beyond an animal's physical form and how to connect heart to heart with the essence of an animal. The key to hearing our animal companions' essence is to look beyond the body and to connect with the amazing soul of the being. The body happens to be a physical form that the soul has created in order to learn and to fulfill a purpose.
Telepathic communication with animals is a natural way of communicating. It is like a telephone conversation between two people. The telephone wires are the available lines of consciousness open between us that make the call possible.
Perhaps you remember the films, Men in Black I and II. They are not so far-fetched as you might think. In both films there's a pug named Frank. We could say his soul was wearing a disguise so that he could accomplish his mission on Earth without attracting a lot of attention.
In this book, one dog's soul tells about being an inter dimensional traveler while another discusses how difficult it was adjusting to his cat body because he's only lived on Earth twice. You will read about a groundhog who walked up to me and put his paw on my shoe and a hawk who flew to me after I had communicated with her telepathically.