Interestingly enough, I just finished an 8 week class on mediumship taught by an amazing medium in my area. It definitely sounds to me like clairaudience. Thats what the teacher(the medium) was with a bit of clairvoyance.
If I were you, as soon as you hear any voice(s), I would surround myself with white light for protection as you don't know who the voices belong to and its best to be safe. Have you tried meditating? If you can hear voices while you are preoccupied, AKA your mind is busy doing something whether it be reading or watching TV, then I'm sure you would find great success with meditation as it clears your mind and quiets it to be in tune. When you hear the voice(s), I would mentally ask who they are and if they have a message for you or anyone you know.
What you have is quite a gift, and I would learn to use it! :)