Everyone communicates with their companions differently, it's all up to personal preference and how you feel most comfortable connecting with them. Tasks are good, but ultimately, it's about spending time with them and figuring out the best way to connect with them. They are living beings as well, just as you would show respect to your friend that you want your companion to help and spend time with your friend, your companions deserve that respect just the same. Take the time to learn about them and figure out the method of communication that works best for your connection.