The language that the centipede spoke with was old. It took the goddess exchanging the required knowledge of this language with a Labyrinth Coin to decipher and learn it. The Centipede did not know how it came to learn this language, only knowing that it was part of his bloodline inheritance.
This bloodline inheritance was incomplete and it could not access all of it, but it knew enough for it to survive and grow. Inside this beast was a void that it was unable to fill, no matter how much it ate or grew. The relationship with Minerva helped a bit, but that void remained.
The question of the centipede brought about intense winds like a hurricane as it spoke, but they parted before reaching Minerva, who folded her hands on her chest and smiled at her increasingly favorite beast.