This paper explores the use of semantic knowledge inherent in the cyber-physical system (CPS) under study in order to minimize the use of explicit communication, which refers to the use of physical radio resources to transmit potentially informative data. It is assumed that the acquired data have a function in the system, usually related to its state estimation, which may trigger control actions. We propose that a semantic-functional approach can leverage the semantic-enabled implicit communication while guaranteeing that the system maintains functionality under the required performance. We illustrate the potential of this proposal through simulations of a swarm of drones jointly performing remote sensing in a given area. Our numerical results demonstrate that the proposed method offers the best design option regarding the ability to accomplish a previously established task -- remote sensing in the addressed case -- while minimising the use of radio resources by controlling the trade-offs that jointly determine the CPS performance and its effectiveness in the use of resources. In this sense, we establish a fundamental relationship between energy, communication, and functionality considering a given end application.