If you wouldn't mind some company. [He can sense the relief and is curious about it, and since the only other telepath he'd really come in contact with before coming to the Barge was sort of looking to get him killed if it came down to it, he was interested in getting to know other people with the ability.

And once he's wheeled himself into the greenhouse, he decides to ask out loud, just in case:]

"Would you prefer to continue verbally or telepathically?"

[See, look at him growing up, asking permission.]