To make the contact the psionicist must see the target. No one can defend a contact. A defense mode does not have initial cost. The listed initial cost is the maintenance cost per round. When attacked a psionicist can try to win a contest against the attacker power score to avoid the attack, try to avoid an attack does not occupy the round.
Telepathic combat is another way to contact and attack a psionicist.
Some powers should be modified to include a saving throw.