The invention provides a communication method, a communication device and a communication system, which can improve the communication efficiency. The method comprises the following steps that a node sends the first indication information to a terminal device, wherein the first indication information is used for indicating to use a first bearer to transmit a first QoS flow, the node is a main nodeor an auxiliary node, and the protocol stack corresponding to the first bearer supports QoS flow transmission through the first path; the first path adapts to a protocol SDAP layer of a main node anda protocol layer below the SDAP layer of an auxiliary node through the service data of the main node, or the first path passes through the SDAP layer of the auxiliary node and the protocol layer belowthe SDAP layer of the main node; and the node transmits the first QoS flow over the first bearer.