Animal Communication?

I'd like to know how to communicate sub-vocally (or any way really) with non-human animals. I've tried techniques from a book called Straight From The Horses Mouth by Amelia Kinrade, but I didn't like the techniques offered.

I would probably begin by attempting communication with my cats (they're not magically linked to be or familiars or anything, but I do have a strong bond with them), however, I would ideally like to move on to be able to quickly communicate with many species and with animals that I have no bond with.

(Please no techniques that would take a long time to carry out even when I am practised - I would like to be able to communicate as easily as I would vocally with another human).

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