I'm a native English speaker, and "to listen to" is slightly different than "to hear"... Let me explain further:
to hear = to merely understand that there is noise: ...My girlfriend hears me in the kitchen, but she can't understand my words. She just hears mumbling.
to listen to = to understand that there is noise AND to understand exactly what is being said: ...My mother listens to me when I'm sad and responds with love.
To review: use "listen" when you can fully understand the noise and are engaging with it (I listen to music in my room) and use "hear" when you know there's noise, but you can't necessarily collect every detail (Do you hear dad lifting weights downstairs?)