If they can speak on their own, and although I haven't looked at them in the book I imagine they know at least some languages (being heads), then they should be able to speak naturally to one another without that special ability.
Maybe if your familiar had Diplomacy high enough (or mediocre if going by RAW for diplomacy), it probably could intercede for them not to try to transform you, at least part of the time.
Edit: looked at the link and saw they speak Infernal.