Though if you just follow the reasons behind the four points in the article and implement them your way, it would be fine too, no?

It's like with lots of these communication systems. (P.E.T. is similar, but more oriented at communicatuion with children) The authors have some specific examples of situations, and how they'd communicate, but it's all driven by some core principles and goals, and as long as you're also driven by and mind those all the time, you'll be fine using your own language, or the language of your peer.