Exactly as Starri Knytes and theempress13 mentions. theempress13, your post was beautiful, really.
There are many similar threads here on A.T. regarding talking to our guides. But, I think the main thing I would say is to talk to them like they are your best friend. Share with them. They know what is going on in your life anyway--but feel free to share the good and the bad with them. When you are angry or sad, its just as important to talk to them then as it is when you've had a great surprise and a super wonderful day! They ARE your best friends. So, treat them like you would any other best friend in your life.
When things go well, thank them for their support, (because whether you know it or not, they may have had a hand in that coming your way!) and when things are at their worst in your life, ask them for guidance and help.
Like Starry also mentioned, have an altar for them. It doesn't have to be elaborate. I have a few throughout our homes. Some only has a candle there, others have a crystal and some holy cards of saints that I feel watch over me. Another is where my statue of the Blessed Mother stands and a few rosaries, and I talk to her often and pray to her for guidance. It can be however you wish.
I think the best way though, is to spend time with them. Make time to be with them--a special time with just them. You can do this through meditation and even if they don't *appear* to you in the meditation--they are still there for you. They are always there for you.