"They hear us."
I think your answer is better. שומעים אותנו is closer in meaning to we are being heard.
In this context, "they hear us" - "hem shom'im ottannoo."
If, however, "they listen to us" - then "hem makshivim lanoo."
And now, independently of all that ... Though not frequently encountered, the following has a distinct meaning:
לשמוע ל-[עצה] ..." או משהו כזה "
"to heed [advice] ..." or something like that