As-Salaam alaikum,
In ayat 51 of Surat Shura' of the Holy Qur'an (42:51), Allahu Tabaraka Wa Ta'ala says:--

"It is not fitting for a man that Allah
speaks to him [directly], except by inspiration, or
from behind a veil, or by sending a messenger to reveal,
with Allah's permission, what Allah wills: for He is
Most High, Most Wise."

This ayat states that all men do not have the faculty to talk to Allah, but some of His special servants do have it. Allah Ta'ala talks to them in 3 ways:--

(1) Revelation (Wahyi directly sent to Prophets)
(2) From behind the veil
(3) By sending some angel as a messenger.

The first 2 ways above have ended upon the last Prophet Muhammad, Sallallahu alaihi Wasallam, but the third way is still continued through which Allah converses with His Friends... the Awliya..."from behind the veil". Here, veil means our physical body behind which the soul is always talking to Allah.

Just as an alive body is blessed with 5 senses and other outward powers, similarly an alive soul also has senses and powers; infact its senses and powers are stronger than the physical body but are dormant due to the ignorance of humans towards the reality of their souls. A case proving this is shown in ayat 172 of Surat A'araf of the Qur'an (7:172), when Allah Ta'ala asked our souls:--

"Am I not your Rab (Master and Sustainer)?"... all souls replied:
"Yes! You are!"... meaning that the souls heard the words of Allah, analyzed them, thought about the answer and replied by speaking. That was at a time when physical bodies were not created, and all the senses and powers of the soul were active.