Lots of artists sing songs with words you are familiar with. Everything from another artists name to a hook they used in a previous song.
I'm gonna say outta professionalism they probably contact each other to be certain there is no problem with doing so but it's not required.
Remember, you said using words. You did not say using an entire line or verse or chorus.
Kidd Rock did it and used Sweet Home Alabama in his song. He also had some of the original band members and writers in on it with him. Kinda spreading the wealth. Which is what this industry does. It keeps us out as much as possible and shares between artists opportunities to co-write, produce, sing, play on each others work.
Do what you would want someone to do to you if you were the artist that made millions on a song and someone wanted to use some of your "words" to create another tune.
