Communicate with animals

Hello! I just had a few questions because I would like to talk with my dog. I have heard that it is possible and I have tried one way before. I think it worked because I thought to him "come" and he turned and looked at me. Then he walked towards me with his head bowed. Then he followed me around a while. Then I said "Okay" and he shook and walked off. Would this be considered talking to my dog?

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