You can use 聞く in those case. 聞く can mean to ask, though. So you have to read it from context.
聞こえる means "to be heard" or "to be audible". It's an intransitive verb, meaning that it doesn't take an object.
"I heard them yesterday." can be
"I hear them every morning." can be
I'm not a native speaker so correct me if I'm wrong :)