I often thought, cats for example, make noises for the sake of it. But if you take the time to think about it perhaps they are talking. When a cat meows often it is answering or perhaps asking. My cat for instance in the morning meows and without much thought I talk to my cat asking what he wants. My cat then continues to meow and it has occurred to me that rather than complaining my cat is actually engaging in a conversation with me.
When I let my cat out after he has eaten, he meows again, and I have come to realize he is actually thanking me rather than aimlessly complaining.
Yes, animals talk. We talk to them without much thought so it only goes to consider our animals are doing the same back to us.