The Hive Queen is one being, but she is also all her workers. Her workers cannot even function without her. She IS their brain, and she communicates just like the Ansible. Well, it's not quite true. The workers lose their focus and brain when she doesn't direct them in tasks, but they are still individual beings. If they lose their link to the Queen, they will no longer be able to function. But she doesn't need to be directly controlling the workers. They just need that connection to function and do what is needed. They are like her arms and legs too- she can control them when she needs to and see what they see. They are extensions of her body.