Is it possible to control a person in your dreams or even their thoughts? If so could you here those thoughts ? How long could something like that take to develop. Im new here and have never had a lucid dream, whats it take to start getting lucid dreams? I know about rc’s and what to do to have a lucid MILD dream but is that all i have to do? 
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Yes, it’s possible to control and make telepathy with a dream character. It has been done. I don’t say it’s easy, but according to the dreamer who succeeded in doing that, it’s easier to control a dream character with telepathy than to give it an order.
I really can’t answer to this question, it depends on too many factors. For instance, if you have only 2 LD’s a month, and a poor lucidity, so you forget you’re dream objectives at 90% ; or if you have 10 LD’s a month with high lucidity and perfect objective recall, you understand that it makes a big difference.
I would say, you can expect your first LD in about 3 weeks. But it’s just an average.
First of all, it’s very important to enhance your dream recall, so the best would be to have a dream journal. When you can recall about one dream per night, you can start with lucid dreaming.
Good luck! 
DC’s are a part of you (as is anything in a dream, unless you would be able to SD), so their thoughts are actually your own (sub)conscious thoughts. Besides that, what makes you think that, a DC “thinks” in the same sence that ordinary people would?