Had an odd experience last night

I was in bed, had just fallen asleep, and was dreaming. Suddenly I was semi-conscious talking (or somehow communicating) with someone/thing that sounded like one of my cousins. I remember asking a question about what I had dreamt. They responded by quickly listing the various details of the dream then said something to the effect of “that’s what you need to do, take a step back and reach out”. At this point I was starting to become more aware of what exactly was happening and getting a bit nervous. I couldn’t see anything but the sound or thoughts were very clear and coming from directly next to my bed. I then asked “what’s wrong, what’s going on?” and got the response “I’m intimidated”. This time the voice came from the opposite side of the bed and sounded different. I laughed and said “you’re intimidated?!”. I remember then kinda forcefully demanding to know wtf was going on and they mumbled something I can’t quite remember, something like “don’t make me……”.

I’m aware of sleep paralysis and have experienced it before but this was completely new to me, since there was a clear exchange of thoughts. I do remember being able to turn my head to the opposite side of the bed to communicate with the second voice. Also, I’m wondering if there were two beings communicating with each other and I just got caught in the mix. Again, I didn’t see anything but the thoughts/voices were very tangible and the exchange lasted long enough that I was fully awake by the end of it.

Has anyone experienced anything like this before? Thoughts on what it may have been?