I think it's very possible there's a Intelligence Completeness theorem that's analogous to Turing Completeness. A theorem that says intelligence is in some ways universal, and that our intelligence will be compatible with all other forms of intelligence, even if they are much "smarter".
Cockroaches are not an intelligent species, so they cannot understand our thoughts. But humans are intelligent, human languages have a universal grammar and can be indefinitely extended with new words. I think this puts us in the intelligence species club, and all species in that club can all discuss any idea.
AI might eventually be able to think much quicker than us, to see patterns and make insights better and faster than us. But I don't think makes us cockroaches. I think if they are so smart, they are by definition smart enough to explain us any idea, and with effort we'll be able to understand it and contribute our own thoughts.