Some people think that telepaths are somehow unique, not realizing that it is an innate capability of every human ever born. Some just trust more in their ability to feel other people than others do. It is not so much about literally hearing what others think, but more like sensing the truth behind the words they say out loud.
And over time you learn to develop that trust in your own capabilities. We might even acquire the power to really here one another's thought if we focus on it enough, but not everyone want that kind of power over others. I for one am content to know the truth about what people say to me, rather than their exact words...