Sentient beings cannot easily develop in Mars gravity. You should remember what happened to Mars. Due to low gravity, its atmosphere slipped away into space. Most planets of this size are barren. To have an atmosphere, you need mass.
Sentient beings are likely to develop on planets with gravity similar to Earth or higher. Those who prefer higher gravity can easily handle Earth gravity. Besides, different sections of the station provide different gravity.
Near-axis areas have very little. You would need artificial propulsion or magnetic boots to move. Middle layers are typical for Earth-class planets. Outer layers have more, perhaps even twice as much. Given such variety, most species will find a comfortable zone.
Speaking with aliens might seem a stretch... but if we make some silly assumptions on how sentients might evolve, we can imagine that Humans are pretty similar to the "average sentient" of our galaxy.
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We have bilateral symmetry, an even number of arms and legs. Easy formation and easy movement. We walk on two legs to see further. At certain stages of evolution, seeing far helps you stay alive. We have a protrusion called head with cognitive and feeding organs. They are close to each other for valid reasons. It is healthy to examine, taste and smell what you are planning to eat.
Last but not least, we breathe air. It is natural for us to communicate with air vibrations. Sound is an excellent and simple means of communication. Many creatures are likely to communicate with sound. Many sounds are impossible for us to produce, but translation devices could easily solve that problem.
There may be far more human-looking aliens in our galaxy, than we expect. Especially if planets like Earth provide good conditions for life to develop.