1 Spiritual Spells from Psychic Moon

Try to make eye contact with the animal for at least five seconds.
While doing do invision a link between your minds and your hearts.
Telepathicly call out to the animal. If it is the first time talking to that animal, don't be surprised if it shakes its head, if so try again. It may take time for it to respond.

I don't know if this is just me, but after doing it a few times, and making a bond with the animal, you may be able to talk to it from afar, by thinking about him/her and the name, don't be surprised if it doesn't work though.