iirc they have mentioned at least once before that during the guiding process a guide may hear esper's thoughts/take a peek at their thoughts and memories/smth like that(i can't remember if it's the same for esper here though) if the matching rate is high enough and if they get some resonance/emotional bonding during the guiding session
(actually this thing is one of the tropes in guideverse. idk how common it is but i've seen it quite a few times in different stories)
also i remember MC confessed to ML a bit earlier that he accidentally overheard some of his thoughts, and also that he was afraid that ML may come to hate him because of this (i MAY be confusing this with some other story though, but i think this was the one where it happened)

am I losing it cause I don’t remember them talking about him getting the ability to read minds