The context here is regarding a people - not an individual - hearing the Saviors voice. In other words, the Savior publicly and in person visiting a people.
Unit 25: Day 4, 3 Nephi 15–16
The Lord told the Nephites that they were part of the other sheep
about whom He spoke in Jerusalem. The Jews had thought He was speaking
of the Gentiles (non-Israelites). ...