lots of people hear voices! i hear voices and i know there are lots of other people out there too. jesus heard voices (the voice of god) socrates heard voices (which we would probably call his 'conscience'). lots of people hear voices and live happy and productive lives. one of the hardest things can be how to make sense of your experiences. why you have them. what they mean to you. etc etc.

but as for hearing them...
if they aren't really distressing
(and it sounds to me that they aren't so much distressing as a part of your life)
then thats okay.

who is to say what is normal?

if other people didn't hear the voice of conscience
didn't hear the voice of reason
we'd worry about them