word choice - Differance in the usage of the verbs "hear" and "listen to"

How is it correct to use the verbs "hear" and "listen to" when we talk about attending some events such as performances, concerts, public speeches, etc.?
Is it possible to say: "Let's go and hear the Royal Orchestra at the Albert Hall this evening."? Or is it correct to say: "Let's go and listen to the Royal Orchestra at the Albert Hall."?

Or: "Let's go and hear the speech of the President." vs. "Let's go and listen to the speech of the President."

In Collins Dictionary it's put that:
"2. 
verb

If you hear something such as a lecture or a piece of music, you listen to it."

What is the criteria of choosing the right verb "hear" or "listen to"? As I understand while attending the performance we're paying attention, focusing on music, enjoying it? More appropriate is "listen to", isn't it?

The matter is about using these verbs talking about attending public occasions - concerts, seminars, speeches, etc. Is it correct to say: "Yesterday we went and heard the concert/speech/etc...." or it's better to say "...listened to....". Or the same in present: "I'd like to hear Mozart concert at Albert Hall tonight".