Have you seen this porcupine video?
Clearly it seems as though this little guy has a lot to say!
How do animals really communicate? Elementary school-aged kids can find out in How Animals Talk by Susan McGrath [J 591.59 MCG], Prairie Dogs Kiss and Lobsters Wave: How Animals Say Hello by Marilyn Singer [J 591.59 SIN], and Hello, Hello! by Miriam Schlein [JP SCH].
For adults we have this one: Animal Talk: Interspecies Telepathic Communication by Penelope Smith [591.594 SMI].