So this is something stupid on pioneer's part. If you go into settings and turn off the 'dings' that sound when pressing a button or using your steering wheel controls, this also turns off the chime for the voice commands.
I turned my 'dings' back on, but if you want to keep them off just keep and eye on the little face icon in the upper left corner of the voice command screen. Once you see those purple dashes around the icon start to light up it is okay to start talking.
Also keep in mind that 3.0 require you to wait an extra second after you hear the chime before you start speaking. If you don't wait that extra second (you didn't have to do this for 2.0) then your voice command will most likely not work. Its all about the purple dashes.