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The chirp voice is a sound an animal makes. Sure, it works for birds (which chirp), but it also works with most other animals as well. So, we call this an animal cry.
The readings are those that you learned with the kanji. 声 gets changed to ごえ, though, so take note of that in your head. Perhaps you can imagine an animal that does a "GOEEEEE" cry.
キリンの鳴き声を聞いたことがありますか。
Have you ever heard the sound of a giraffe?
朝、鳥の鳴き声で起きた。
I woke up to the sound of birds chirping in the morning.
自動販売機の下から子犬の鳴き声が聞こえるんです。
I hear a puppy barking under the vending machine.
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