When comparing another entity’s sentience to ours, then, we must take into account similarities and differences. We cannot sense the Earth’s magnetic fields the way birds or cockroaches can, nor do we have any idea what the cells of our stomach are experiencing most of the time. As we develop non-human intelligence, there will be even more categories of perception that do not fall within our level of sentience. Intelligent robots will be able to perceive more of the EM spectrum, sense electrical conductivity, or detect exotic particles.
Going into a posthuman future, we should not base sentience on our anthropocentric limitations but on the concept of mutual sentience. That which we can perceive we can usually impart. Through description, song, or art we are able to transmit to others of our kind the meaning behind a particular perception. Thus if two entities have overlapping categories of perception, they may be able to communicate with each other. Without overlap, two entities may still be sentient but not mutually sentient, and as such unable to communicate.