Is it normal i hear voices in my head?

Ever since I was around 11 I've been hearing voices. It started because I felt lonely as my dad would ignore me and never spend time with me leaving me by myself. I made 'imaginary friends' for myself, they would talk to me and go with me everywhere. They weren't really people, they were like black with white eyes n had a human shape with tails. I talked to them in my mind as I felt embarrassed talking out loud if I was at school or something. They weren't bad, they use to play games with me and tell jokes when I was sad.

I stopped seeing them when I was around 16, and now just hear voices in my mind. Is it normal? I have conversations with them and they dont tell me to kill people/set my family on fire like you see in movies.

When I'm in a real bad state or having an anxiety attack one of em will usually take control and calm me down. They can't take control without asking me/getting permission though, unless I'm in a bad way.

I can't get rid of em, I told them to go somewhere else but they told me they can't, idk why. I don't see the point n taking meds because again they aren't murderers and we generally get along well. (Their nocturnal though and sometimes wont let me sleep because they want to run around/have fun)

One is kinda bad tho, he tells me to kill myself, to stop bothering with things, etc although the others tell it to fuck off and it goes away. Haven't heard it for a few months now, although it'll probably comeback. (I feel embarrassed saying this bc I don't believe it, but it tells me it's a demon or some bullshit :/)

Yea thats about it, the voices are pretty chill and I see no reason to get rid of them even if its not normal.