This poem I think is talking about communicating with things that you wouldn’t normally communicate with. For example, the poem says “to talk with the clock by tapping a wall”. Most people wouldn’t converse with a clock since it’s just an object, but this poem does otherwise. It goes beyond what is normal and does things that people wouldn’t normally do, communicating with stationary things. This is similar to a person talking to a plant, which I have heard of, or a kid talking to their pet rock.