Within us we contain the ability to see in many different dimensions and forms. Within the Etheric and Physical we can see almost anything that can take on form. Most beings in other dimensions often use the astral plane to be seen and heard so that we can actually interplay with them.
Hearing and seeing with your astral eyes and ears is different than with your physical senses. Information is relayed in what you feel and therefore must be interpreted to understand the messages. Not unlike the signs we ask to receive from our universal self and teachers; communicating telepathically is the only form of communication with them.
We often think that there is somewhere to go to communicate with the other realms, all is currently within each of us and we need only to tap the methods.
Telepathy is a sending and receiving of energy in thought form. This is why it doesn’t matter what language you speak in the physical when beings from different realms speak with you they speak your language. Of course love is the universal language and when we meet beings from other dimensions we must discern if they are of love or not.