Communication is generally considered as one of the most abstract and symbolic cognitive processes. In contrast, this propective paper proposes that its fundamental mechanisms rely on principles of embodied cognition that minimize internal memory. This paper explains how these principles emerge from the neuronal substratum and can implement classical coordination procedures, as well as more complex attentional procedures. Communication could be the next candidate and demonstrate the genericity of these principles, to relate to the genericity of the underlying neuronal circuitry.