If I was out of food my dogs would make sure we all got fed.

There are ways to have a symbiotic relationship with another animal without strict verbal communication. Maybe you just haven't taken the time to learn about your animal and the things that make it unique and worth loving. Because it might already be doing that about you.

I know I wake up every morning to my cat purring on my face and nestling into me and she starts purring the moment I pick her up. She's not sticking around for table scraps.

I used to own rats. If you want to really learn just how emotionally intelligent pets can be, get a pair of those. Some of the most social creatures you'll ever meet.