Yep. I talk to our dog and cat all the time. There's times I've accidently bopped the dog on the nose while playing (he likes to play rough) and he'll act all scared until I say sorry, then he's ready to play again. He's already a little skittish so if you bop him harder than he was expecting he thinks he's in trouble.
The cat, I don't apologise too much to. When I hurt her, its usually because I've kicked her or fallen over her. Both things she gets when she gets under my feet. I call those days her trying to kill mummy days. She likes to see if she can toss me down the stairs. ;)