[ Hearing Ardyn's voice isn't that unusual anymore. Gladio has already accepted the fact that this monster is always going to haunt them until Noctis deals with him for good. Expecting the worst from Ardyn is, in a way, something that helps Gladio keep calm.
telepathy
As for the telepathy game he wants to play? ]
No. Try a little a louder, you're breakin' up.