It's an interesting question, about how far we have a personal relationship with God. I know people who say they've heard the voice of God, but it's never happened to me - at least not explicitly. I tend to feel that God speaks to us through other people some of the time, and sometimes, I feel his presence more strongly than at other times, but this could just be a feeling that I attribute to the presence of God. I suppose as rainbowbex says, it's sometimes more in the sense of feeling 'nudges' rather than words. Or feeling a hand on your shoulder. It's difficult to vocalise and to put into human language.