Minotaurs are often seen with goblins, in what looks like a master-slave relationship. The goblins are most likely forced to serve the minotaurs out of fear for the lives. It is unknown how they communicate, as they don't seem to share a common language.
Since minotaurs attack any of the Three Races on sight, it is impossible to even attempt to communicate with them. Travelers are advised to stay far away from these monsters.