Why does my Mac never talk to my printer without serious cajoling?

I use a Powerbook G4 and OS 10.3.8

Every time I change the paper or the paper jams or even turn the printer off, I have the hardest time getting the printer back online so it will print anything.
The printer is an EPSON Stylus CX4600.

I try to print things and I get “communications error”. I think there is some issue with Rendezvous.

Somehow I think this problem is fairly easy to solve, but my unfamiliarity with Macs may be a problem.

I’m also connecting to the printer through an Airport Express base station.