That's exactly what he said. Here ya go, from the transcripts:
REP. PAUL: I'm suggesting that we listen to the people who attacked us and the reason they did it
Well, if I want to know why someone did something, I ask the perp first.
He’s in the best position to know, after all.
Yes. He is not saying to go have a chat with them, just listen to what they have told us. He even listed some of the reasons.
This is nowhere near the same as "talking to the terrorists".
Rep. Paul already did listen to what OBL said, but I doubt if he would ever want to "talk with" OBL.
SOME PEOPLE just don't listen, that's all.
But you go right on ahead, and keep on not listening, and go on rephrasing and reinterpreting what you may think you heard.
But why you think you need to do that is beyond me.