‘Listen’ is a fine translation as well when we’re talking about actually spoken Hebrew. If I send a friend a YouTube link with some music they’ll more likely to say אשמע than אקשיב.
Yes, unfortunately you're right. For some reason the distinction between "listen to" and "hear" is very weak in many languages, not just Hebrew.
Is there a way to determine when to include the pronoun "אני" and when to leave it out?