Yes, they heard you...I believe they were pulled to you as soon as you began thinking of them and that they do every time.
I talk to mine almost daily, either in my head or out loud...pretty much like I would if I was looking at them. I think I started doing it almost immediately after each of them crossed over.
And it doesn't hurt to ask them for a sign either. I ask if they would let me know that they're around and will often receive something gentle....like a dime or an "angel number" on the clock(s).
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