Hypnogogia is a state in which you hallucinate in a semi-awake, semi-dream state. These halucinations may be either physical, visual, or auditory. It is not an uncommon occurance.
That being the scientific answer, does not preclude the possibility that you may, as Erin pointed out, be being contacted by Spiritual entities. What Science calls Hypnogogia, many people call Astral Projection, Out of Body Experiences, Journeying, or any number of other things that are just as real as the color blue.
"The Schizophrenic is drowning in the waters the Mystic swims in with delight."
James Campbell
Practice connecting with these Guides in a more alert state; either through meditation or prayer and see if you get anything more clearly. I find that when my guides have something to say, they generally don't mince words or speak in riddles.
This experience may just be a nudge from them to get you to recognize them.
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