i just asked my guide and they said they can but only when we intend them to do so, such as when we are in direct telepathic communication with them. they wont go around reading your mind during the day or when your thoughts are private, as they do not interfere with your free will.
i do think they know you though, from reading your energy more than your thoughts per se, as thoughts are energy too, and they probably just read the whole blurb of emotions+thought+whatever else and know you that way.
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