You will need a coordinate system with 5 axis which all converge at
0,0,0,0,0. When you wormhole, you're not traveling through space, but
time. You enter hyperspace, travel back to point 0 in time, and then
travel forward from there - following the coordinate path that will
take you to your alternate destination. You must depart and leave from
the same precise point in time, however, in order to end up in the
same worldline you left from. Otherwise, you will end up in an
alternate world line and will likely never manage to return to your
native one.
An additional help for enabling you to communicate with non-humans:
Study animals already existant on your planet. To guide them into a
type of communication style that you can relate to more readily, teach
them simply as you yourselves have been taught: To behave in a manner
contrary to their instinct. not at all times, but only during special
times - which for you were times cloaked in the guise of religious
ritual and such. You were taught by your benefactors to behave
contrary to your nature, and this was most readily associated with
religion and most readily assimilated as such. Simply teach the other
creatures of your world that there is a time and place especially set
aside for practicing behavior contrary to their nature/instinct, and
that the rest of the time is theirs to behave as they wish. This will
eventually yield creatures of various sorts that become aware of how
to use logic and reason. Quite rapidly, depending on how vigorously
these lessons are pursued.
Again, good luck.