The best communication in a relationship comes when the two partners feel that they can be "safe" with each other. In practice I think this means a number of things.

1. Practice respect.
2. Do not prejudge your partner's communications, or make assumptions.
3. Don't sweat the small stuff.
4. Be mindful of your partner's cultural and gender biases.
5. Ask thoughtful questions.
6. Reflect your partner's communications. "So you are saying that [what they just said, but in your own words]?"

Communicate from a good feeling place. Don't communicate while you are angry or frustrated. Calm down first, and then express your feelings clearly and politely, with a suggestion about how you would like your partner to change their behavior, if that is applicable (how will they know if you don't tell them?).

Don't assume that the other person just "gets" your communications. None of us are evolved enough to be mind readers. Women fundamentally think differently than men do, and everyone has different personalities and beliefs.

Over time, you will find that, if you nurture your communications, you will develop rapport with your partner (knowing how they think, understanding their motivations, being able to predict their responses, and so on). Before you know it, you will be finishing their sentences, and vice versa.

But it all starts with developing a feeling of safety and an environment of trust, where each partner feels free to express their feelings without being judged.

It's true, no two people think exactly alike. And it's also true that we sometimes expect too much of others...sometimes even more than we ask of ourselves. But we can still "be of one accord" on certain subjects and work together to manifest our joint desires. In that case, we are of one mind for at least the things we desire together, and that is powerful. We don't have to be "of one accord" on everything, and life would be pretty dull if we were!