Whenever it is said that God speaks to us, it is usually meant in a figurative way.
We don't hear the voice of God as in the way we hear the voices of those who are speaking to us.
But as the Church, as the People of God, it can be said that the voice of the People of God is the voice of God.
As the Church reflects and discerns the will of God, she will speak as the People of God so that the world will know what God is saying through the Church.
In the 1st reading, Peter and the apostles spoke as one to the Sanhedrin.
What they said was in obedience to what God wanted them to say.
Let us also listen to what the Church is teaching and saying through the Pope and the Councils.
Let us obey the voice of the Church so that we will also be able to obey and follow the will of God.
Let us believe that the voice of the Church is an echo of the voice of God.