...but there is evidence of telepathic ability, it's in the movie novelizations for AvP and A:R, and it's in the EU. Like, in the video games and comics and novels, Alien telepathy is pretty much an established fact.
Not to mention Ripley8 talks about hearing the Aliens "behind her eyes" in Alien Resurrection.
As for coping just fine without a Queen, the Aliens seem to do more intelligent things when Queens are around.
Like SiL said, Cameron felt the Alien didn't do anything intelligent in 'Alien', so had them do smarter stuff in 'Aliens' (...in the presence of a Queen).