No, you do not need to have holy books to love God either. For example, in Lakota spirituality, they have Wakan Tanka, which means Great Spirit or Great Mystery. Yet they do not have any holy books.
I do not think that having a spiritual connection to God can be called the same thing as telepathy. Telepathy refers to the ability to communicate without language with other people.
We are being communicated to in unseen ways, whether by devils or the forces of God. That is telepathy as far as we receive thoughts from others without language. That is how we constantly choose between good and evil. I think recognizing the tug war is helpful, and then increasing awareness will lead you to cultivate the skill.
And if you can receive, you probably can emit. It's just about learning how, and not using it selfishly, but to benefit yourself and others. Then when that opens, all sorts of other magical abilities are on the table. My belief is this needs to be guided by someone chosen by God to teach us, whether spiritually in the kingdom without language or meeting him in person with whatever language he choose to communicate to that person.
However, I personally, will not just go to any person, because opening doors of these abilities can lead one to manipulating others and make one for example, a dark empath easily. So there are dangers in going to the wrong people or misusing ability even when taught by the right person.