There was a dialogue between God and Adam. The Lord spoke to Joseph through various dreams. We may not hear His Voice in the same manner as others, but if we need to hear from Him He will certainly speak to us in one or other way. In order to hear His Voice we have to walk close to Him. When you are walking with a friend you normally don't keep 200 feet distance between each other, it is too uncomfortable to communicate and it does not really look like you are friends.
Friends stay close together and in general talk while they walk.
We show our committment to Him, by walking in obedience and in agreement to His Word. We have to be fine tuned in order to communicate with Him and to hear His Voice. The Lord speaks through His Word, by His promises and His warnings. We do not have to sit in a corner waiting for His answer. Thus, we step in the direction of our prayer.