Jojo, by all means try out the shelters, however a good animal to start learning this from is the horse. So I would check out places that do handicapped riding. They are always looking for volunteers. This way you will get better information by watching the horses with different riders and helping people out as well.
I learned a lot from horses, like the first time you get on one, you need to show them that you are boss, otherwise they will take that job instantly. lol They have so many different personalities and emotions. You will get more learning from them than a cat or dog. And once you do this, you'll find other animals a lot easier to communicate with.
And remember to always be mindful when around them for a week or so, because they will test you to see what they can get away with.
Oh and this is very important to remember, never, ever hurt a horse. They are like an elephant in memory and will return harm back to you at their earliest convenience. If you accidentally hurt one immediately apologize and hug them around their neck. They are very understanding and will know it was an accident by the tone in your voice and the hug. Horses hug each other, you will see this. Just remembered another important thing, should they ever pin their ears back, just a cat, back away quickly!