Communicate is both a one way and two way word yo, google 'communicate definition'. Most dictionaries suggest that it can be both ways.
Yes, but in this case, it is used as the two way version. We know this because of how it is used; the context of the sentence the word is found in. The way it is used cannot mean one way communication.
I re-read Winter Witch this week (great read!)
The character's in the book have to learn to think 'loud' or project their thoughts in order to communicate with the Dragon/Drake.
The Dragon in the book is able to communicate back and forth with non-telepaths over a distance without either characters having to resort verbal language.
Telepathy (Su) The creature can mentally communicate with any other creature within a certain range (specified in the creature's entry, usually 100 feet) that has a language. It is possible to address multiple creatures at once telepathically, although maintaining a telepathic conversation with more than one creature at a time is just as difficult as simultaneously speaking and listening to multiple people at the same time.
Format: telepathy 100 ft.; Location: Languages.