"Hear" is the verb we use to talk about the ability.

It doesn't mean that we want to hear something.

It's about sounds coming to our ears.

I can hear the air conditioning.

It doesn't mean that I want to hear it, but I can.

The verb "listen" is often followed by the preposition "to."

We use this verb when we're paying attention or focusing on sounds.

I hope you're listening to me.

That means I hope you're paying attention.

Compare these two sentences: I can hear some music (somewhere).

I am listening to some music.

I'm listening to a song that I want to listen to.

Anyway, I've got to go.

I can hear my boss calling me.