They should communicate in our publicly accepted means of communication if they wish to speak to us. If we desire to speak to them then we should learn their language.

A middle ground would be to use an intermediary/hybrid language that both are capable of understanding and willing to use.

Communication should also be consensual and expected without causing or worsening underlying psychological effects that can harm or intrude on the human mind.

Maybe they see us like we view ants at a picnic.

This is overstating a bit.

Even if they are some absurdly advanced society, they cannot look upon humanity in the same way we look at ants. Ants do not innovate and come up with means of communicating with other species. Ants do not study, they just act upon their hive mind.

They may view us as backward savages, stumbling through time. They may also understand how naive we'd be and use this to take advantage of us, somehow.