"Saya mendengar seekor binatang."
Terjemahan:I hear an animal.
We use hear for sounds that come to our ears, without us necessarily trying to hear them! For example, 'They heard a strange noise in the middle of the night.'
Listen is used to describe paying attention to sounds that are going on. For example, 'Last night, I listened to my new Mariah Carey CD.'
So, you can hear something without wanting to, but you can only listen to something intentionally. An imaginary conversation between a couple might go: 'Did you hear what I just said?' 'No, sorry, darling, I wasn't listening.'