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I would say that Satan and his demonic forces (although powerful) are neither omnipresent nor omniscient with respect to the ability to hear the spoken prayers of individuals, or read their thoughts. Also, even if Satan could hear those prayers, it would be of no advantage to him, because God -- who IS both omnipresent and omniscient (as well as omnipotent) -- is greater and more powerful in every respect than Satan (1 John 4:4), and is able to defeat his plans, and prevail for our good.
Before I can provide an answer to this question I need to provide some background about holy angels and demonic spirits (fallen angels). Satan and his evil spirits (demons) are fallen angels. They were all created as angels with the capabilities (power) and responsibilities (authority) just like the holy angels. But Satan led a rebellion against God and enticed a third of all angels to join him. They lost a war in heaven and were cast out, now they rule in spiritual realms above earth and try to rule on earth. Satan is not equivalent to God. He is not all-powerful, all-knowing or present everywhere. Satan and his demons can only be present in one place at one point in time. We know this from Jesus letter to the church in Pergamum. "I know where you live—where Satan has his throne. Yet you remain true to my name. You did not renounce your faith in me, not even in the days of Antipas, my faithful witness, who was put to death in your city—where Satan lives. (Rev 2:13)". All angels were created by God as mighty ones to do his bidding, to obey his word, to be his servants who do his will. Holy Angels obey God's command to guard his chosen people in all their ways, to lift them up in their hands, so they don't strike their feet against a stone. Angels are able to fly swiftly as noted in Daniel 9:20-23, where Gabriel came to Daniel in swift flight with the answer to his prayer. Angels deliver God's judgements. In the book of Revelation, it is angels who deliver the trumpet and bowl judgements from God against all the evil and wickedness on the earth. God created angels with an organisational structure, with different responsibilities and powers. Some angels protected nations and some protected individuals. We learn this from the angelic exchanges in the book of Daniel. In Daniel 10:1-21 we learn that Daniel was seeking to know God's plan for Israel's future, so God sent an angel to give Daniel a vision of the future. This angel was detained for 21 days fighting against the Prince of Persia, a demonic spirit, who was trying to stop the message from being delivered. Then Michael, the guardian angel for the nation of Israel came to fight with this angel and he was then able to deliver the message. Jesus said in Matthew 18:10-11 that his disciples must not despise little children who believe in Jesus because their angels in heaven always see the face of my Father in heaven. Angels are able to communicate in words or in visions or dreams. A vision or dream communicates thoughts and pictures to our minds. So angels and demonic spirits can communicate with people. Angels and demonic spirits are aware of what is happening in peoples lives where they are physically present. All this background to now answer your question. Satan cannot hear our prayers because he is not physically present where we live. However, his demonic spirits who are stationed where we live, whose assignment is to lead us away from God and try to torment our lives, can hear our prayers, whether spoken or silent. However, that shouldn't matter to us. Jesus prayed out loud and silently and he never once warned his disciples about what the evil spirits may discover about them or about their work for the kingdom of God. Jesus mission on earth defeated sin, death and all evil forces. The apostle Paul acknowledged that our battle is not against flesh and blood but against the rulers, authorities and powers of this dark world and against the spiritual forces of evil in spiritual realms. But he also said we simply had to put on the full armour of God to defend ourselves from all evil forces (Ephesians 7:10-18). Paul also said that the Holy Spirit has given us all the weapons we need to demolish evil strongholds (2 Corinthians 10:3-6). Through our prayers, God sends his Holy Angels to fight on our behalf just like he did for Daniel. Through the power of God's word we demolish every argument and pretension against God. At the name of Jesus every demon must flee.
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