Curious. I remember this story, with the telepathic pterodactyl, and I was never a regular Tarzan reader. Tarzan’s way to defeat it lingers particularly strong in my memory, and it must have been 40 years ago or more. I don’t remember the supporting cast, though, or how they came to be in this situation in the first place, so I can’t help with any “what has come before.”
We did have a Tarzan comic book here in Norway, and that must have been where I read it. The final panel I remember was of the “Mahari” flying while Tarzan held on to its legs. Though the comic clearly was a collection of strips (evident from the was Tarzan repeated “It can hear my thoughts” in every third panel), I think that particular panel was blown up to a splash page.