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Personally I think Bioware and Blizzard are two companies that do a better job of at least appearing to listen more thoroughly and thoughtfully to their respective fan communities.
Ouch. That was rude.
Anyway, BLIZZARD and BIOWARE? Seriously? Hah, Bioware screwed with the RPG mechanics in Mass Effect 2. It destroyed Dragon Age.
Blizzard turned Diablo 3 into Torchlight with all those cartoony graphics and they are just lazy. Especially now with Bob Kotick on their side.
I think Bethesda listens A LOT. They improved a bunch with Fallout 3. The whole gameplay and mechanics were better. People say the dumbed the writing but IMO it was better than Oblivion's. The problem is that it's a new franchise and it was their first game, they still have to learn how to write like Fallout 1 and 2. Also, just take a look at BethBlog and see how much they post about Elder Scrolls mods and other things fans do. Also, you can see they are pretty active here on the forums and on twitter.
If I had to compare about how much they listen to their fans it would be: Bethesda > Bioware > Blizzard.