Wouldn't it be wonderful if we could transmit our thoughts to other persons by the power of our minds. If there were some invisible force that could be used to carry our thoughts. Maybe convert those thoughts into waveform through a specialized organ or something.
For an outside observer missing an organ capable of sensing these vibrations such communication would appear supernatural. On the other hand, to everyone else having the appropriate organs it would be just normal.
Assuming we would have something more sophisticated means of communication as sound we wouldn't consider it any more special. So why do we fantasize having something like that? Would it make our communication any more clear than speech? Considering how differently we think we probably wouldn't understand each other any better using something like telepathy anyway.
Besides, extrasensory implies something you don't have sense for. So how would you be able to "hear" those thoughts anyway. And if you had such extra senses it wouldn't be extrasensory anymore. Just a regular sensory perception.