let me make this 100% clear since telepathy is 100% real. if you want to request something physical of someone, use your physical words. dont be that jerk that uses telepathy as a cop-out to trustworthy communication, an excuse to guilt-trip or method to gaslight, or demands that you exist within a bubble. if they cant say what their physical needs are, thats THEIR problem, not anyone elses.
if you try to please them youll be stomping all over consensuality lines and leaving yourself open for being seen as a bad person.
thats what they want deep down.
psychic or telepathic baiting ill call it.
i dont know that people always intentionally read another persons mind, but they shouldnt be trying to use your thoughts against you.
if theyre that filled with distrust towards you, your feelings, and intentions, they obviously dont respect you very much to begin with.
also im not sure how to 100% tell when a thought is yours vs someone elses, so it could be their thought theyre trying to blame you for, funny enough.