Read the Scripture Passage Here: John 10:1-21
What's amazing when you read the Bible now verses listening to Jesus then is that you know how the story played out. That is why it seems obvious what Jesus was saying, because you know what he's going to do later. It's easier for us to believe because we have PROOF of what Jesus did. They had proof also, but like us, they would forget as quickly as it came, the goodness of God.
So do you hear the voice of Jesus? I only heard God's voice audibly one time, at a very desperate time in my life, and I have never since and never before, at least not that I recognized. I do hear God's leading in my inner knowing, however. I just read a testimony of a lady who was able to steer clear of danger twice, simply because her inner voice, (Holy Spirit) prompted her to go off her normal course. Do you hear the Holy Spirit prompting you? Some are troubled because they don't know if it's God, their own mind, or Satan speaking to them. That's why it's important to read God's word, that's how you get to know Jesus personally. Then you will be able to discern who's voice is in your head or actually your spirit.
What Gate are you trying to enter Heaven in? The only door that leads there is Jesus.