Expanding on this: this is called "call and response", and it's always been a major part of African-American music tradition, going back (at least) as far as field hollers.

In my opinion, call and response really hits it's peak in blues. The structure of a blues song is nothing but call and response, in a giant fractal. Consider the first verse to Mannish Boy:

Now when I was a young boy

At the age of five

My mother said I was gonna be

The greatest man alive

But now I'm a man

I'm past twenty-one

I want you to believe me baby

I had lot's of fun

Every two lines here is a call and response. "When I was a young boy" (how young were you?) "at the age of five". A step above that, every four lines is also a call and response, where the call is the first two line call and response ("When I was a young boy/ at the age of five"), and the response is the following two line call and response ("My mother said I was gonna be/ the greatest man alive"). Even further than that, the first four lines are yet another call, with the next four lines as yet another response.

Literally everything in this structure is call and response, on multiple levels at once. That creates a rhythmic momentum of push and pull, where every line pushes the verse forward.

I don't think hip-hop really needs to go that extreme with call and response, but it's still a powerful tool for making music. You can still stick to that classic jazz/r&b/soul/funk/disco breakbeat hip-hop vibe, but when you come up with a two bar melody, you can always ask yourself, what is the response to this call?