I don't know how this is done, but it indeed does happen. Recently after being more aware of this, I've noticed Astral beings might change their facial expressions just by looking at me and without speaking a word. I know they where reading my thoughts. The way I have been able to do this in the past is not by "reading their mind", but more like sensing their thoughts and without generating language. For example a heightened sense of psychic ability while in the astral realms.http://meditationtime.grou.ps/talks/7074355/
No talking required in the astral, no translation of ideas into language. The idea is directly transferred into the mind of the target person, without being milled into a language thought. How is that done in the mind?
I would have trust my inner thoughts and feelings as correctly sensing of incoming information, but since I am somewhat objective in my approach, I am not certain until in crosses a certain threshold when I simply just know my psychic insight to be of an interesting origin. Otherwise I will have doubt, this is a failure in my part. I have dismissed some ideas that might have given me some input on situations.
When you become lucid, try to communicate this way. You will see that you could better get your point across to affect change, which comes from better expressing your thoughts in a way that the others can personally relate too, specially if your in the realms predominantly of the psyche. I do not have too much experience with communicating this way, but it appears to me to be a valid guideline that I should follow more often.
Have a great day!