Well...no...you're right, there's not much actual talking going on.
But with that same bond that you can understand of emotions, perhaps experiences, when you can sense that from an animal, when you can invite that animal to sense it from you, then you can exchange those sort of things telepathically through that bond. And it's basically an empathic or telepathic conversation.
The method that worked best for me was taken from Sonya Fitzpatrick's Cat Talk , although it can work for any other species. She created a construct sort of vessel for her awareness which was in the shape of an animal, in her mind, so that when the animal senses "what" is coming through, they often can sense a fellow of their own species.
Being able to understand empathic or telepathic signals is like learning the ingredients that go into something that you're cooking--without labels or even seeing the ingredient, but by going on flavor alone. It gets easier with experience, but being purely intuitive it can be a difficult "mode" or mindset for many people to shift to.