To develop a relationship, we communicate.
So, to have a relationship with God means to have a conversational relationship.
We talk to God. We listen to God. We walk with God in life. It is possible. Jesus made it possible.
Talking to God sounds reasonable. When we pray, we are talking to God. It is listening to God that sounds a bit more far-fetched. Really? A voice from heaven?
When we have trusted Jesus to be the One to bring us back to God the Father and surrendered our life to His leading and authority, He dwells in us. So, listening to God is more like listening to our inner voice rather than a voice from above. It's much more intimate and personal.
Jesus says that He is the door of the sheep. "The sheep hear his voice, and he calls his own sheep by name and leads them out. When he has brought out all his own, he goes before them, and the sheep follow him, for they know his voice."
We hear His voice. He calls us by name and leads us out. We follow Jesus because we recognize His voice.
Yes, we can hear Him. He has been speaking to us. Perhaps, we haven't paid much attention. Perhaps, we didn't think we could hear Him. Perhaps, we don't know how. Or perhaps, we are afraid. What would He say to me?