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Pigeons make cooing noises, which is often what gives the game away to them being close by. This cooing is usually matched with a fanning tail action, as well as bowing and strutting, and is generally considered to be a communication tool, usually for males to entice females to mate.
As well as this coo, a calling noise can be made to attract mates, and this call is more like a longer cooing noise. If the pigeon has been shocked or alarmed, however, it will usually make a lower toned noise, much like a grunt. If you hear this noise, you would be forgiven for thinking it was made by a different animal entirely. It's the kind of noise you would expect a pigeon to make.
Of course, as well as vocal noises, pigeons make a lot of noise in general as they flap in or around your home. Their wings can flap together, making quite the racket if there are enough of the flock doing it at once. It can sound very much like a slap when they do this. Sometimes, these birds will stamp their feet as they get ready to take off.
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