A general stickler and former editor, I immediately caught on to the peculiar language.
To me, listening just means perceiving sound, albeit attentively. Hearing means taking it in. And, hearing = listening + understanding.
I don’t think the dictionaries (Oxford) agree with me:
give one’s attention to a sound
My one argument is that the verb listen can be used in the continuous, whereas hear is more perfect:
“I hear you”
“I am listening to you”
means I will take in all these sounds you make, but there is no guarantee it will make sense to me.