Let's all try to relate

In Give Praise to God there was a quote that really struck me "We all tend to listen better to someone when we think they understand where we are coming from. Our non-Christian friends are no different in this."pg.135
I can't even imagine how wild it would be to get to a point where our messages could be something that everyone could relate to and understand. I still have a hard time relating to certain things I hear new in church because we have all these weird analogies like 'planting seeds' and 'being the salt and light' - unless explained, I can't relate to salt.  Coming into that new is confusing if you don't have the background in it. How can we make things easier for people to relate to?