Your university likely has many public talks relevant to your research interests. Go to them. Many of them may be over your head, but if you go, you are exposing yourself to the language of your field; If you are trying to join an academic community, it is important that you observe members of that community communicating their research to each other, and public lectures hosted at your university are a great way for you to do this.
Also, I think that the most underrated part of the lecture is the time after the professor finishes taking questions from the audience, when audience members come to the front to converse with the professor one on one. This is usually the most important part of the lecture to me. Even if I don't have anything to say, I go up and listen to the professor talk to people. The lecture hall setting with the audience doesn't make it easy for the audience to provide the professor the same kind of real time feedback that one on one conversation does, and as a result, it's harder to convey information in lecture format than to a responsive listener.
And another thing: don't restrict yourself to the talks that you think are relevant to your research. Go to all types of talks, and you might be surprised how much overlap there is between all fields of academic research.
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