מקשיב - listen
Listening, though, is different from hearing. Consider this phrase - "I heard the noise" vs "I listened to the noise." In the first case all is normal, but in the second don't you get a funny image of someone standing there and enjoying the noise? ;) Or, at least, the speaker in the second case is making an effort to discern something in this noise, to make some sense of it.
That's the main difference between the two - whereas "hearing" is neutral, it's about the physical ability; the "listening" is about paying attention, making the sounds meaningful. So now you know what to think when someone tells you אני שומע אותך! and when someone tells you אני מקשיב לך!