Imagine you sit with your friend near the fire. You don't talk much, you mostly drink your tea/smoke/stare at the fire. But sometimes you say a couple of words to your friend, or he/she - to you. You're both fine with that. You enjoy the moment.
What do you call this rare, but friendly communication in a verb?
I thought, to have a word will do, but that implies some serious conversation, as I've been told. Not what I mean.
Have a chat is not an option, since no chatting take place, just occasional words, and yet you speak to each other, and have some kind of conversation.