Communicating what we want to communicate precisely is an art and it needs a deliberate practice. Real understanding of our communication comes when we, you and I, meet on the same level at the same time. That happens only when there is a communion. It is very difficult to commune with one another easily, effectively and with definitive action.
Other side is an art of listening. To be able really to listen, one should abandon or put aside all prejudices, pre-conceived notions, beliefs, and daily activities. You need to keep your mind in active listening state. When you are in a receptive state, things can be easily understood. Unfortunately most of listen through the screen of resistance. We are screened with prejudices and we listen really to our own noise, to our own sound, not to what is being said.