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The easiest way to tell if they want to talk is just to right click on them. If they want to talk to you they will give you a line of dialogue that indicates as much, usually something along the lines of "Let's talk when we get back to the ship" or "I'd like to talk to you in private". The latter type will trigger a conversation in cantinas as well as the ship. For BHs, Mako's ship one is a little indistinct, something along the lines of "It's not safe here, we'll talk later".
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