Listening...

"Everyone who is of the truth listens to my voice." - John 18:37

What does this word "listen" mean here? It is more than hearing, it is following. This is more than a cognitive understanding, its a deeper grasping of truth. I've been noticing lately that I don't listen all too well. How does one, when wanting to listen, go about working towards that? What stirs my soul towards God, what makes me groan and yearn for Him? If I can answer that, I think that will be a crucial first step to regaining that listening ear.