Can we hear something on Venus, Mars and Titan?
It depends on the composition of the atmosphere. In a helium (or other light gas) atmosphere, your voice would have a higher pitch. If the gasses are heavier, your voice drops.
The density is also a factor: on Mars, sounds can't be as loud as on Earth. Sound is transmitted as pressure differences, and the largest pressure difference you can get is that between the atmospheric pressure and a vacuum.
The speed of sound also changes with the composition and pressure of the atmosphere. This would change the way you perceive the distance and direction of an object that makes a sound: we normally use the tiny differences in time between a sound reaching our left ear and our right ear. A different speed of sound screws up those time differences.