When it comes to the personal relationship with God, it's less what we hear and more how God interacts with us. It's bringing our lives in submission to Him and seeing all the good fruit that pours out of it. It's seeing how one act of obedience led to blessing and protection in another seemingly unrelated incident.
If you want to get a good idea of how that works, read the book of Esther. It is a very, very good example, and we see it on a regular basis. It's seeing doors open that we had nothing to do with opening, and finding ourselves bringing healing to others in ways we never dreamed or expected. It's saying something without knowing why, and watching something come to pass as a result.
It's the peace that comes with knowing we are forgiven. Not hoping, not choosing to believe, not finding what suits us, but just knowing, and seeing the results of that.
It's praying and seeing powerful response to that prayer even though we are mere fallen creatures. And God chose to listen. It's feeling comfort in hard times, and while the rest of the world is cursing God, you're praising Him and enjoying His comfort and fellowship. It's being able to do what is right when surrounded with people who treat you wrong. It's having patience with someone trying to play games with you, manipulate you or annoy you, and seeing God make things right afterward.
It's seeing His guidance and love, and knowing that all the things you forsake to live in Him were only loss to you anyway, and being able to see that your sacrifices were no sacrifices at all, but portals of every good thing and knowing that God is good, and He loves you.
Etc.