I am searching for a fascinating story I once read about a member of an social insectoid race. He is sent by his queen to make first contact with the strange humans and serve as liason. He learns to see and understand beyond his race's limits. He tries to warn his queen about the dangers, but before he can deliver the message he gets killed because he is seen as invested/impure and served its purpose.
The humans in the story, a man and a woman are not hostile towards their comrade. They seek their advantage but try to understand their guest. In the end it is humanity's adaptability and competitiveness that is the threat and not any violent behaviour.
As far as I remember it was a paper back from the 80s or the early 90s.