As to connecting to animals – everything, every object and plantsnf animal has a spiritual source that can communicate. That is why we have seforim that say that there is “sichas dekalim”, talk of the palm trees – according to IYK, we should not eat fruits or vegetables, because if trees can talk then surely they feel pain when you cut them down or tear off their limbs….
Rather, the same way in perek shira, every living thing “sings” to hashem, so too inanimate objects…they all have a “sar” or spiritual component that is sentient. Animals themselves however, are not. They are programmed and have no neshoma, soul, free will, or what we would call emotions…they are a bag lf chemicals that react to stimuli.
Compassion to them, say the rishonim, are not because hashem cares about their pain (anyone who says that shiluach haken, sending away the mother bird before taking the eggs, is due to Hashem’s compassion, is only mistaken – gemara says this word for word), but rather for our own sake, that if we violate the laws of tzaar baalei chaim, and unduly hurt animals for no reason, we are building a trait of cruelty in ourselves that will affect how we deal with people. Causing pain for a purpose, whether it be for food, korban, medical research, etc…is perfectly fine and indeed a mitzvah.
This is what happens when you learn medrashim seriously with the meforshim.