Shepherds separate their sheep by the sound of their voices. Even if flocks are intermingled, the sheep follow their own shepherds by their voices. As our shepherd, Jesus wants us to know that He knows us intimately and is able to call us by name. As His sheep, we need to learn to recognize His voice when He calls us.
How do you get started? It can be as simple as being willing. Are you willing to listen to God’s leading? If so, then begin to ask Him to speak to you. Most of us can recognize our parents' voices even if we don't see them. We can tell if they are happy, mad, or sad just by hearing their voices. The same is true when it comes to hearing from God. We may hear God's voice through the Scriptures we read. He may talk to us in our prayers. In some cases, He may use others to convey His message. The more we hear His voice and practice following Him, the more often we will recognize His voice.
Isn't it amazing that the Lord knows you personally and can call you by name? It doesn’t matter how many sheep He has. You are His precious possession. You matter to Him! God loves you, and He wants to lead you every day. If you tune your ears and listen to Him, you’ll notice Him faithfully nudging you in the right direction.

Dear Heavenly Father, thank You for adopting me into Your family and loving me unconditionally. When I was lost and hopeless, You found me. I am forever grateful for Your forgiveness and grace. Come near to me, and let me hear You as I pray. Help me to recognize Your voice in my day-to-day life so that I won't fall into Satan's traps and disobey You. When I read Your Word, may You speak to me through the Holy Spirit so I can gain wisdom. 
In Jesus's name I pray. Amen.