"mag-usap" is ACTOR focused and the actor is always plural (tayo, kami, sila, etc.). This is different from the way the similar verbs of "talk" or "converse" are used in English. For example: To say "John and I had a discussion" you would use "Nag-usap kami ni John", using the plural "kami", for a sentence that literally translates to "We conversed, John." (where "I" is implied in "kami").
"Mag-usap" only indicates people are having a discussion. Ex: "John and Jill are talking." If you'd like to indicate who started the discussion, for example, say "John talked to Jill," try using the verb "makipag-usap".
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