It can't mean that because the Bible doesn't contradict itself.
The Bible contradicts itself in many places. Ignoring them is assuming your conclusion. You are supposed to be demonstrating infallibility, not assuming it. But obviously you are incapable of even comprehending the concept of demonstrating infallibility, much less actually trying to do it; all you've ever done is assert it.
The passage explicitly and clearly tells us that they did not hear the voice. The Bible contradicts itself in that case. Not earth-shaking, but a definite contradiction.
Edited by JonF, : No reason given.