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Rob, your comment missed the point. Please re-read carefully the question: "...in my development environment, truffle.js is configured to connect to Ganache." We are talking of Truffle with Ganache here, not Geth or Parity.
To add to Jess answer, I would say that the fact that contracts communicate via "message" is just a low-level detail from the point of view of a smart contract developer.
