The purpose of this study is to suggest how the current listening education of interpersonal relationship-centered communication could be improved. We studied learning mechanisms related to the interpersonal communication skills programmed in social robots. First of all, we defined “interpersonal relationship-centered communication” as hearing and talking, in order to emphasize human uniqueness. From this perspective, we confirmed that “perception” and “reflective thinking” play an important role in the learning mechanism that social robots have developed to communicate human emotions. In summary, we chose the following direction for improving listening comprehension for improving interpersonal relationship-centered communication: Reinforcing “perception” and “reflective thinking” activities focusing on information other than language messages.