What is the relationship between language and animal communication? This has largely been discussed within research on language evolution and disciplines beyond linguistics, but impacts upon the study of language generally. There are two extant views on the nature of this relationship: either there is a stark divide, with language considered as completely unique to humans, or there is a linear continuum from animal communication to language, aligning with gradualist evolutionary principles. Yet, each view involves considerable limitations. Moreover, there is no agreed-upon definition of language, which further complicates the determination of its relationship with animal communication. Withdrawing from attempts to define language with traditional fixed criteria (as characteristic of classical categorisation), this article suggests a different approach to conceptualising language and assessing the concept’s applicability to other species. Categorising phenomena through family resemblances and graded typicality of features (as in prototype-based categorisation) enables a new approach to conceptualising language, its typological diversity amongst humans, and the systematic integration of animal communication. Ultimately, with an illustrative model, this article proposes a strong overlap of animal communication with language. This approach illuminates more of the nature of language, facilitates more cohesive interdisciplinary research, and introduces potentially positive ethical implications for non-humans.