Firstly, ignorance is always born out of delusion. There are two fundamental delusions we are subject to. One is caused by the three gunas (yoga-maya) (7.25) and the other by polarities of longing and aversion (7.27). ‘ Yoga-maya ’ separates the manifested lower nature ( apara prakriti ) and un-manifested higher nature ( para prakriti ) to prevent us from knowing HIM (paramatma) as unborn and imperishable (7.25). This ignorance can be destroyed by knowledge of the self (5.16). 

The second delusion arises out of our belief that we can attain happiness through our senses. The polarities of longing and aversion are generated when senses meet sense objects (2.14) and these polarities create delusion. The solution is not to get attached to external sensual pleasures and instead, realise divine bliss in the self. In that stage, one experiences unending happiness (5.21).

Secondly, it is about hearing with a concentrated mind with an intent to understand and inculcate whereas we tend to hear with an intention to reply to others. Thirdly, Krishna is taking feedback which is an essential part of communication. In the modern context too, there are many tools that take feedback from employees and customers to improve the performance of the organisation. 

Arjun replies, "By Your grace my delusion is dispelled and I regained memory (knowledge). I am firm and free from doubts. I will do according to your bidding" (18.73). 

Sanjay concludes the Gita and says, "Wherever Sri Krishna and Arjun are, there arises opulence, victory, glory and righteousness" (18.78). These words along with the Lord's assurance of taking care of our wellbeing (9.22) form a part of the revered Vishnu Sahasranamam.