My DS, with many of the same issues (apraxia and hypotonia), did this for quite some time, particularly at 2 and 3. He is 4.5 now, and it is mostly better, but he is still quick to hit his brother if something isn't going his way--more than most 4.5 year olds would. We viewed it both as a method for seeking input and, like you said, as method of communication. He wasn't always communicating unhappiness or anger when he did these things. For a long while, if my 3 year old and his older brother were watching TV on the couch and something was funny, the 3 year old would smack his brother on the leg or arm (hard!). He would frequently do this with his brother, when the emotions he was really expressing were excitement or happiness. Of course, he used the same things when he was angry. And, when what he really wanted was a hug or to say hello, he would come up to the person and pinch their legs with both hands, while gritting his teeth.
We didn't use a therapist, but just continued with OT and it has improved greatly with maturity. This behavior was at its worst during the evenings after daycare/preschool. We made sure we provided him with lots of opportunities to burn energy and get deep input. We bought a massive 5ft. bean bag that he uses for crashes, and if he started hitting his brother, I often suggested that maybe he needed to get some energy out doing some crashes. I'm not sure this is helpful, but just wanted to share our experience with similar behavior.