One way that harry could possibly comunicate with Sirius and maybe even his dad is through the Marauders map. In Book three Harrys dad was able to talk to snape even though he was dead. It was the 15 year old James talking but it is still possible for harry to comunicate with him. It is similar Tom Riddles diary.
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I think thought that might be a way of communication but Harry can't really talk to them. They can just talk to Harry. I think a better way of communication would be through a portrait. Sirius probably has a portrait in 12 Grimmauld Place.
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