Do people necessarily perceive or recognize the voice of God?

Summary:

In the Bible, people can be described as not necessarily perceiving the voice of God. That is, people may not necessarily be aware that God is speaking to them.

Even if people do come to perceive the voice of God, they may not necessarily recognize it as the voice of God. That is, they do not manage to identify that voice as the voice of God specifically. 

You can find evidence for that below:

It is possible to not perceive the voice of God:

Job 33:

In Job 33, it is written that God may speak several times and yet people may not perceive it. 

It is written in Job 33 that "Elihu says" (Job 32:17 (Masoretic)): "ONE TIME GOD SPEAKS, and TWICE, BUT ONE DOES NOT PERCEIVE IT" (Job 33:14 (Masoretic)).

And so the next verse indicates that as a result: "In a dream, a vision of the night, when deep sleep falls on men, while they slumber on the bed, then He opens the ear of men and seals their instruction" (Job 33:15-16 (Masoretic)).

1 Samuel 3:

In 1 Samuel 3, the LORD spoke to Samuel. Eli, another person, did not immediately perceive that the LORD was speaking to Samuel. 

It is written in 1 Samuel 3 that "THE LORD CALLED, “Samuel, Samuel!” And he said, “Behold, I (am here)!” AND HE RAN TO ELI, and said, “Behold, I (am here), for YOU HAVE CALLED ME.” BUT HE SAID, “I HAVE NOT CALLED YOU; return, be going to sleep.” And he returned and went to sleep. THEN THE LORD CALLED AGAIN, “Samuel, Samuel!” AND HE WENT TO ELI the second (time), and said, “Behold, I (am here), for YOU HAVE CALLED ME.” AND HE SAID, “I HAVE NOT CALLED YOU; return, be going to sleep.”. Now (this was) before Samuel knew GOD, and (before the) word of the LORD was revealed to him. AND THE LORD CALLED SAMUEL AGAIN FOR (THE) THIRD (TIME). AND HE AROSE AND WENT TO ELI, and said, “Behold, I (am here), for YOU HAVE CALLED ME.” THEN ELI PERCEIVED THAT THE LORD HAS CALLED THE CHILD" (1 Samuel 3:4-10).

It is possible to not recognize the voice of God (even if perceived):

1 Samuel 3:

In 1 Samuel 3, the LORD spoke to Samuel, and Samuel heard the voice of the LORD, but did not recognize it. 

It is written in 1 Samuel 3 that "THE LORD CALLED, “Samuel, Samuel!” And he said, “Behold, I (am here)!” AND HE RAN TO ELI, and said, “Behold, I (am here), for YOU HAVE CALLED ME.” But he said, “I have not called you; return, be going to sleep.” And he returned and went to sleep. THEN THE LORD CALLED AGAIN, “Samuel, Samuel!” AND HE WENT TO ELI the second (time), and said, “Behold, I (am here), for YOU HAVE CALLED ME.” And he said, “I have not called you; return, be going to sleep.”. Now (this was) before Samuel knew GOD, and (before the) word of the LORD was revealed to him. AND THE LORD CALLED SAMUEL AGAIN FOR (THE) THIRD (TIME). AND HE AROSE AND WENT TO ELI, and said, “Behold, I (am here), for YOU HAVE CALLED ME.” Then ELI PERCEIVED THAT THE LORD HAS CALLED THE CHILD. And he said, “Return, child, be going to sleep; and it will be if He calls you, then you will say, ‘Speak, LORD, for your servant hears.’” So Samuel went and slept in his place. AND THE LORD CAME, and stood, AND CALLED HIM AS BEFORE. AND SAMUEL SAID, “SPEAK, FOR YOUR SERVANT HEARS.”" (1 Samuel 3:4-10).

John 12:

In John 12, after that Jesus spoke to the Father, a voice answered from heaven, and some people having heard said that it was thunder, and others said that it was an angel. Even though people heard the voice from heaven, yet they did not all recognize it as the voice of God.

It is written in John 12 that "Jesus" (John 12:23), said: "FATHER, glorify Your name!” Then (A) VOICE CAME FROM HEAVEN: “I both glorified (it), and will again glorify (it)”. THEN THE CROWD, the (one) standing (there) and HAVING-HEARD, was-saying (that) THUNDER had-taken-place. OTHERS were-saying, “(AN) ANGEL HAS-SPOKEN (to) Him”." (John 12:28-29).

It is possible to not recognize the voice of Jesus (even if perceived):

When Jesus was speaking to people in the Bible, they did not necessarily recognize that it was Him speaking to them.

Luke 24:

In Luke 24, Jesus appeared to people and spoke with them, but they did not recognize it.

It is written in Luke 24: "two of them were going on the very day to (a) village being sixty stades distant from Jerusalem, (for) which (the) name (was) Emmaus. And they were-conversing with one-another about all these (things) having-happened. And it-came-about during their conversing and discussing, that JESUS HIMSELF, having-drawn-near, WAS-GOING-WITH THEM. But their eyes were-being-held-back (that they might) NOT RECOGNIZE HIM. And HE-SAID (TO) THEM, “What (are) these words which you-are-exchanging with one-another (while) walking?”" (Luke 24:13-17), "And the (ones) said (to) Him, “The (things) concerning JESUS from Nazareth" (Luke 24:19).

Only later is it written that "their eyes were-opened, and THEY-RECOGNIZED HIM" (Luke 24:31).

Acts 9: Saul (Paul):

In Acts 9, When Jesus spoke to Saul (Paul), Saul did not recognize who this was, even though he heard the voice.

It is written in Acts 9: "HE-HEARD (A) VOICE saying (to) him, “Saul, Saul, why are-you-persecuting Me?” AND HE-SAID, “WHO ARE-YOU, SIR?” And the (One said), “I AM JESUS Whom you are-persecuting" (Acts 9:4-5).

Basic ways to perceive and recognize the voice of God:

There are basic ways to perceive and recognize the voice of God. 

For more information:

Basic ways to perceive and recognize the voice of God:
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