1. When a verb becomes a noun, be it subject or object, you use the gerund.
This is the rule and it is correct.
2. To your example: the infinitive can be used with the verb "mean", or any other like expression.
To listen is to receive. = To listen means to receive.
The reason for this is a little complicated. The phrase "to listen" is taken as an idea, and has become the subject in front of the verb "is".