Empowered to Hear

What do Christians mean when they say, "God spoke to me"?
 
When Vice President Mike Pence said that Jesus has spoken to him, Joy Behar of ABC’s The View said this: “It’s one thing to talk to Jesus. It’s another thing when Jesus talks to you. That’s called mental illness if I’m not correct. Hearing voices.” If Behar had a problem with our vice president, I am afraid she would share an equal concern about Peter, Paul, and the other heroes profiled in the book of Acts. The author Luke repeatedly states, “The Spirit said” when referencing how early Christians experienced personal guidance.   

What did that look like? How did the Spirit speak? Can God speak to us today in the same way? Can we hear Him when we are discouraged, lonely, or at a fork in the road?