In I Corinthians 12, Paul talks about discernment. I'm sure all of us who are in the spirit are able to discern a person's thoughts as God gives that revelation in discernment for His purpose. We certainly can't give credit to ourselves of being able to know what somebody is thinking and perceive that somebody has some hidden view about something. God gives that revelation - again for His own purpose.
Many times supernatural revelation is so simple and so momentary, we can often miss the fact that what we may perceive within a moment is actually through supernatural discernment (God revealing an issue to us.) This is how many of us are able to just look at a politician from a screen, for example, and determine what's wrong or right about him/her.
With that said, Jesus pointed out to Peter in John 21 that (in paraphrased summary) he needed to mind his own business being concerned with what John will do. "If I have him tarry until I come, what is that to you?" is what Jesus asked Peter. That question still applies to us today. Jesus will not reveal people's thoughts or hidden issues to us if the revelation is not for a specific purpose that glorifies God alone through salvation or some other ministry. That's incredibly intrusive and our God protects us from such intrusion.
Even if something is not specified in God's Word such as "trinity" or "rapture", the wording in the passages point to the term given to it in our language. Example: 1 John 5 explains that the Father, the Word (Who is Jesus), and the Holy Ghost are One. He said "these Three are One." And in our doctrine, such descriptions have been labeled as the "Trinity". It's as if saying the trinity is short for the purpose of condensing. Instead of saying "the Father, the Word (or Son), and the Holy Spirit" in a sentence, we reference them as the Trinity. Compare it to instead of referring to a unit in a sentence like "the father, the mother, and the children", we condense by saying "the family"
The word "telepathy" is a mystical and occult reference. It has no part - absolutely no part - with the Gospel at all.