In my mind there is a simple distinction between communication and perception. Communication is a two-way process by which information is passed between emitters and receivers.
Perception is a receiver's understanding of the information the emitter has offered.
Problems arise when receivers simply accept their initial belief or understanding of the information that has been emitted, when they don't take the time or trouble to check with the emitter to make sure their initial 'understanding' is correct. Too many lessons in communication are focused on presentation skills. Not enough attention is paid to listening and understanding. Often, what we perceive is what we have assumed. Communication gives us the opportunity to test assumptions.