/jp/ - Otaku Culture

I'm a little confused with the meaning of these three words: 承認、了承、承る.
After checking some dics and sites on the internet this is what I have:

> 承認 :
To recognize something that has been justified or it's a fact (like "approved" or "checked and confirmed"). It's also usually used by a company or corporation (possible synonyms: 認める、OKです).

>了承:
To be completely convinced about the circumstances of something. I don't understand this one, but I think It could be something like "there is a plan or a schedule being the object of a discussion and finally, It gets approved".

>承る:
To know something only by rumors or "what my friend told me", but it's not a fact neither something i truly understand.

bonus:
> 承知: To understand or comprehend something very very well. Possible synonyms: よくわかる、知る、心得る、理解.

Please, help me.