The Apostleship of Paul and Barnabas were unique in the initial formation of the early church. Paul received direct inspiration from the Holy Spirit which resulted in a prominent part of the New Testament. There is no record of anyone else receiving the same direct communication from the Holy Spirit.
The notion of hearing God's voice comes from a misinterpretation of "My sheep hear My voice", which in reality is the voice of Christ through the preaching of the Gospel inviting the person to believe the Gospel and be saved. It is linked with Hebrews where it says, "Today, when you hear His voice, do not harden your heart". This also means that it is the voice of Christ through the preaching of the Gospel, and that when one hears the Gospel, they are instructed not to harden their hearts against it.
Neither of these verses refer to hearing God's voice in the process of the daily walk in the Spirit. If we need to hear God's voice in our daily walk, we need to read and study the Scriptures. God has said all He has to say in those pages.
We do get impressions in our minds as we seek God for guidance, but they usually comes in the form of Scripture, and we go to where the verse is located and study it in context. This proves either the impression being correct, or false. The Scripture says that by experience in the Word and use enables us to be able to discern between good and evil. So, to hear the voice of God through the Scriptures one has to be a person of prayer and strong in the Scriptures. Without a good foundation in the Scriptures we would have no way of proving whether a "voice" in our thoughts is from the Holy Spirit or from just our own imagination.