I've been thinking about that love means never having to say you're sorry. And this is the conclusion I've come to
Really loving someone means understanding why they do what they do.
So if you understand a person intentions you don't have to wait for them to come out and say their sorry.
If you're in a loving relationship chances are the person is not keen on intentionally hurting you.
And it's better to just assume the best of people.
That being said, the quote still needs more explanation.
You really have to know and understand the people around you or it'll be a constant state of offense. Understand what people mean rather than the words they actually say. Understand that sometimes people need their space, no matter how much they love you. Understand that sometimes people need less space and want to have you near.
Understand who your friends are as people. If you know what excites/inspires/enthralls them you can better communicate with them. With my little brother it's best to speak in video game and fantasy novel analogies. With my mother it's Gilmore Girls and 30 Rock quotes. With Jennie it is endless film set related jokes. With Alex it's pop culture references and singing sentences that end with "yeaaaaah". Find what works and use it. Even if we all speak English, it's not all the same language.