I can't say whether you're nuts or not, but what you are experiencing happens to people all the time.
There's a lot of different modes of thought around it.
One "scientific" explanation of the voices you hear during the dozing phase of sleep is called hypnogogia. Google it. You'll get a lot more than I could describe for you here.
Another way of thinking about it would be from a spiritual standpoint.
Often, in this state, we are more accessible to our Spirit Guides, Allies and Benefactors. Check out "Human Vibrational Frequencies" or any other variation on the theme. Again, you'll get more that way than me just spewing my own theory. Your Guides will take any opportunity they get to communicate with us, so if you're open, they'll talk.
Good Luck!
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