Like @BarryCarlyon said. There is no official way to listen to audio from a live stream, and I don’t particularly know if this is allowed. But a possibility is to listen to the audio from a live stream with unofficial methods.
Note that I have never done any programming with sound, so all that is up to you.
The way I know to do it just gets the video stream and convert it to audio in real-time using ffmpeg (or similar).