And at the least they are trying something different, rather than just churning out games to the same template over and over again.
Will that upset fans who are devoted to the established formula? Yes, of course it will. Will it make for a better game? Only time will tell, and it will always be a matter of opinion over what is 'better' anyway.
But at least they're trying something different. Not wholly original, perhaps. For example, other games have done voiced protagonists, but that is different for the series and for Bethesda. Games where you can build a free-form (or semi-freeform) settlement with dynamic interaction with the surrounding countryside? I'm not sure if many other games have done that at all.
So at least Bethesda are trying not to stagnate, which is always a risk and (if they are to actually be creative) something to be lauded. They may screw it all up, of course .
As to whether they listen... yes. They don't necessarily agree, and they listen to a lot more customers than just the ones who frequent the forum. I can't provide a link (it was a long while back) but I remember a comment that they get a startling amount of feedback by email and even post, from people who've never heard of or used these forums. They also listen to games journalists, when they visit, have behind closed doors previews, write previews and reviews. They don't necessarily agree with them either, but you can bet they listen carefully.
As for interaction... well, it's fallen off a lot, I agree, but a few devs do still contribute on the forums. SMK Viper, who developed Skyrim's scripting (Papyrus), is fairly active in the modding and creation-kit forums, and I think he's said that some of the functionality from the script extender may well be incorporated in future Papyrus versions. He's also acknowledged some criticism of the way Papyrus works.
What they don't have is are staff who are expected to spend their work time engaging in a two-way conversation with fans. That's a PR decision, and given how combative and... focused some fans can be, possibly a sensible one.