Afterward they heard the voice of the Lord God walking in the garden in the cool of the day, and the man and his wife hid themselues from the presence of the Lord God among the trees of the garden.
Genesis 3:8 GNV
While it was the voice of the Lord God that created the world and all nature around us, it is important to remember that Adam and Eve still heard the voice of the Lord AFTER falling in sin. We are not told how God conversed with man. The assumption is often understood to be the same way people talk with each other. Later the Lord spoke through His messengers, the angels. But the Lord is often known specifically by His name and His voice.
When Jesus walked on this earth there are times when His voice was heard. And angel was sent to Mary, Joseph, the shepherds, and also in dreams. But the first we are told of God speaking in the days of Jesus was when Jesus was immersed.
And Jesus when he was baptized, came straight out of the water. And lo, the heavens were opened unto him, and John saw the Spirit of God descending like a dove, and lighting upon him. And lo, a voice came from heaven, saying, This is my beloved Son, in whom I am well pleased.
Matthew 3:16 - 17 GNV
(See also Mark 1:11; Luk3 3:21, 22; John 1:29 - 32)
It is important to note at this time we have been told nothing of what Jesus had done in most of thirty years, but God knew. From what the Father had said there it is wrapped up in what we are told the result of what was said in the end of Luke 2.
After hearing the voice of Hod at that time there was the mount of transfiguration as described:
And behold, there appeared unto them Moses, and Elias, talking with him. Then answered Peter, and said to Jesus, Master, it is good for us to be here: if thou wilt, let us make here three tabernacles, one for thee, and one for Moses, and one for Elias. While he yet spake, behold, a bright cloud shadowed them: and behold, there came a voice out of the cloud, saying, This is that my beloved Son, in whom I am well pleased: hear him.
Matthew 17:3 - 5 GNV
(See also Mark 9:1-10; Luke 9:28-36)
After seeing Jesus talking with Moses and Elijah Peter suggested building three tents, one for each, but the Father told them to hear only His Son. This is seen with one backdrop that Jesus presented to the Pharisees.
All these things heard the Pharisees also which were covetous, and they scoffed at him. Then he said unto them, Ye are they, which justify yourselves before men: but God knoweth your hearts: for that which is highly esteemed among men, is abomination in the sight of God. The Law and the Prophets endured until John: and since that time the kingdom of God is preached, and every man presseth into it.
Luke 16:14-16 GNV
Then in telling of the rich man and Lazarus with the rich man's desire from hell to have Lazarus to go back to warn his brothers Jesus says,
Abraham said unto him, They have Moses and the Prophets: let them hear them. And he said, Nay, father Abraham: but if one came unto them from the dead, they will amend their lives. Then he said unto him, If they hear not Moses and the Prophets, neither will they be persuaded, though one rise from the dead again.
Luke 16:29 - 31 GNV
And this truth was born out when Jesus called His friend Lazarus back from the dead (John 11). There were some who believed, but others did not, but ran to tell the Jewish leaders.
On the mountain of transfiguration there was Moses representative of the law, Elijah representative of the prophets, and Jesus whom the Father had just said, “Hear Him” after Moses and Elijah were seen no more.
Then after what is known as the triumphal entry into Jerusalem certain Greeks wanted to see Him. The response Jesus gave:
And Jesus answered them, saying, The hour is come, that the Son of man must be glorified. Verily, verily I say unto you, Except the wheat corn fall into the ground and die, it bideth alone: but if it die, it bringeth forth much fruit. He that loveth his life, shall lose it, and he that hateth his life in this world, shall keep it unto life eternal. If any man serve me, let him follow me: for where I am, there shall also my servant be: and if any man serve me, him will my Father honor. Now is my soul troubled: and what shall I say? Father, save me from this hour: but therefore came I unto this hour. Father, glorify thy Name. Then came there a voice from heaven, saying, I have both glorified it, and will glorify it again. Then said the people that stood by, and heard, that it was a thunder: other said, An Angel spake to him. Jesus answered, and said, This voice came not because of me, but for your sakes.
John 12:23 - 30 GNV
Here brings the question, how do I hear the voice of God? At this time as what we know as Holy Week had just begun some people said it was nothing but thunder. Others said that an Angel had spoken. Jesus said the voice that proclaimed, "I have both glorified it, and will glorify it again”, was not for His sake, but for those who heard it. How they heard it has great importance. Those who hear Gods voice as nothing but thunder miss God altogether. Those who said it was an angel speaking are in good company with Mary, Joseph, Joshua, Samson's parents, Gideon, Daniel and many more.
It would then stand that Jesus would pray a psalm that reiterates hearing the voice of the Lord. And for myself I must be open to hearing God speak and not just assume it is little more than thunder.