In motor systems, a copy of the movement command known as corollary discharge is broadcast to other regions of the brain to warn them of the impending movement. The premise of this review is that the concept of corollary discharge may generalize in revealing ways to the brain’s cognitive systems. An oculomotor pathway from the brainstem to frontal cortex provides a well-established example of how corollary discharge is instantiated for sensorimotor processing. Building on causal evidence from inactivation of the pathway, we motivate forward models as a tool for understanding the contributions of corollary discharge to perception and movement. Finally, we extend the definition of corollary discharge to account for signals that may be used for cognitive forward models of decision-making. This framework may provide new insights into signals and circuits that contribute to sequential decision processes, the breakdown of which may account for some symptoms of psychiatric disorders.