If the core system used were not significantly different than humans, then likely yes (even if our anatomy didn't allow us to speak to them, we could have a shared communication system).
The core system here is Saussure's idea of sign and signifier, ultimately. The medium doesn't matter nearly as much.
I really like that he recognized that you'll have 2 beings both motivated to understand each other. The back and forth communication, along with some coding skills, made good progress pretty quick.