The preposition bet

I notice that hear is sometimes used with voice with no preposition and sometimes it is used with a preposition. I wonder what the idiom is.

Here are the verses I am considering - all of which have the preposition ב.  There are many others where hear or attend is used with voice without the preposition. What's the difference for?

Recently updated verses

46	7	הָמוּ גוֹיִם מָטוּ מַמְלָכוֹת נָתַן בְּקוֹלוֹ תָּמוּג אָרֶץ	nations murmur kingdoms are moved He gives with his voice the earth softens
66	19	אָכֵן שָׁמַע אֱלֹהִים הִקְשִׁיב בְּקוֹל תְּפִלָּתִי	Nevertheless God has heard he pays attention with the voice of my prayer
68	34	לָרֹכֵב בִּשְׁמֵי שְׁמֵי קֶדֶם הֵן יִתֵּן בְּקוֹלוֹ קוֹל עֹז	To the one riding in the heaven of heavens preceding Lo he gives with his voice a voice of strength
86	6	הַאֲזִינָה יְהוָה תְּפִלָּתִי וְהַקְשִׁיבָה בְּקוֹל תַּחֲנוּנוֹתָי	Give ear יְהוָה to my prayer and attend with the voice of my supplication
95	7	כִּי הוּא אֱלֹהֵינוּ וַאֲנַחְנוּ עַם מַרְעִיתוֹ וְצֹאן יָדוֹ הַיּוֹם אִם בְּקֹלוֹ תִשְׁמָעוּ	for he is our God and we the people of his pasture and the sheep of his hand Today if you hear with his voice
103	20	בָּרְכוּ יְהוָה מַלְאָכָיו גִּבֹּרֵי כֹחַ עֹשֵׂי דְבָרוֹ לִשְׁמֹעַ בְּקוֹל דְּבָרוֹ	Bless יְהוָה his angels valiant of power doing his word hearing with the voice of his word
106	25	וַיֵּרָגְנוּ בְאָהֳלֵיהֶם לֹא שָׁמְעוּ בְּקוֹל יְהוָה	and they nattered in their tents they did not hear with the voice of יְהוָה
130	2	אֲדֹנָי שִׁמְעָה בְקוֹלִי תִּהְיֶינָה אָזְנֶיךָ קַשֻּׁבוֹת לְקוֹל תַּחֲנוּנָי	Lord hear - with my voice so let it be that your ears pay attention to the voice of my supplication