The TARDIS is used to telepathic connection, but not to the communication being two-way. The mind shrinks back at first, and Padme can hear the garbled speech of others in the park instead of the translation the ship had been providing.

But the TARDIS recognizes Padme after a moment and reaches out again. The alien voices recede and are again replaced by the more familiar Galactic Basic she's used to.

She doesn't communicate in words, or even in images. Just sensations of emotion. If they had words, though, it would be something like I trust you, but...