For those who are familiar with His Dark Materials...

It's been ages since I read The Golden Compass, and I didn't read the other books in the trilogy, so I don't know if this is ever established, but how does human/daemon communication work? I know humans and their own daemons talk to each other, and daemons can talk to one another, but can other humans hear/understand what your daemon is saying? Or does it just come out like random animal noises, or is it more telepathic or like a Shakespearian aside?

Apologies for the randomness of this question.