And how does Moenghus (or any Cishaurim) experience this connection? Is it like Warging?
I'm inclined to think that a Psukari and his snake or snakes share a soul. We know that all sorcery is worked through the soul, especially so for the Cishaurim (they can have their souls removed by having their sorcery wrenched from them), and it seems like the snakes are deeply connected with at least some of the sorcery the Cishaurim practice. Moenghus' voice in the dreams he sends to the Dunyain comes out serpentine and his snake's eyes flash when he does the multi-face thing. Unfortunately, there are no other passages I'm aware of that show a connection between a Psukari's sorcery and his snakes.
Since it's always the sorcerer's eyes that light up, and Moenghus calls his snakes his eyes, I'm pretty sure that whatever metaphysical thing that happens to make a sorcerer's eyes light up happens to both the Psukari and the snakes. There's also the whole fact that the Cishaurim use the snakes to see, so the snakes' sensory input somehow has to be shared with the Cishaurim.
Ultimately, I don't think the snake and Psukari could share a point of view and both be involved in working the same sorcery if they don't share the same place, the same soul.
Even if there's no soul or sorcerous connection, Moenghus' snakes coming to him without him casting any sorcery after he'd been stabbed supports at least some sort of snake-Psukari connection.
If the Dunyain could ever trust one of their own - then maybe two Dunyain could communicate like Cnaiur does with Kellhus a few times through PON (some of my favorite moments in the series).
Makes me wonder about Ishual and how the pragma or any post-training Dunyain would talk to each other. They'd probably have to use more actual speech in the thousand thousand halls due to the general light-prohibition, but otherwise there might not be much said in Ishual at all.