Both players left Brugge to join Villa in the Premier League last summer after Dean Smith's side were promoted.
"Nakamba is like my brother so we talk, and with Wesley also, we make jokes," Dennis told Sky Sports.
"I'll say 'how is it over there?', and they always say, 'this place is difficult, they like to gym all the time', and I say 'this is the Premier League my friend, you have to work'."
Dennis has opened the door for a potential transfer, saying: "I like challenges. I've been here for three years. My focus right now is I have one more game this season - the Cup Final - which I want to win, that's really important to me.
"After then, we'll see what happens, you never know."