Sometimes we seek communication with ancestors or other people that we did not know in life. The process in that case would be basically the same.
Sometimes we seek communication with our deceased animal friends. This technique works equally well for them.
Sometimes we seek communication with angels, archangels and spirit guides. In this case, you may ask questions such as "Who is watching over me?" and "What guidance do you have for me?"
Over time, you may develop a sense of particular tarot cards that carry special messages from the spirit world. For instance, I see Judgment as someone in spirit saying, quite clearly "I need to tell you something!" The Page of Cups can be a message of love from someone in spirit. The Ace of Wands can suggest someone in spirit acting as your muse and inspiring your creativity.
A good exercise is to look through your cards one at a time and decide what each card could possibly mean if you were interpreting it as a message from the spirit world.
As you work with you cards in this manner, you will be comforted by the clarity with which you perceive those on the other side of the veil. You will be amazed by tarot's ability to facilitate your communication with the spirit world.