My sheep hear My voice, and I know them, and they follow Me; John 10:27
God has always spoken to His people.
It is the normal experience for His children.
Scripture is clear and undeniable,
but also consider --
Jesus paid a price so great we cannot fathom, so that we would be in Him and He in us. Since He now resides in His believers and has established the closest and most personal relationship possible with us, would He now stop talking to us and only refer us to a book?
Here are just two of examples of Jesus teaching me to hear Him.
Here is an article which further develops the topic of hearing God's voice: