Copying content off of YouTube is a copyright infringement. Regardless of the purpose or the final use.
Not only that, but it is also against YouTube's user license to copyright their content. So that two strikes that make this illegal.
I will actually address your specific wording: "Can I listen to music...".
Sure, listening to music is not a copyright infringement. The act of being present where the music is being played is never something you are liable for. It is the acts that copy or distribute that music that are illegal, not the listening. So if you copied this, but your aunt is in the room when you play it on a stereo system at home, only you are infringing, not your aunt.