Quote Originally Posted by Боб Уайтман View Post
In modern language, yes! Слушаю-с - the final consonant is hard (unpalatalized), слушаюсь - the final consonant is soft (palatalized). It is very audible for Russian ear.
In older language, there was a tendency to pronounce final -сь in reflexive verbs without palatalization. But this pronunciation is outdated.
Not completely outdated, though. As actor's speech is partially based on an old Moscow pronunciation, there's still tendency to pronounce hard reflexive suffixes among older actors. Pay attention next time you watch a movie dubbed in Russian. Good to know for a learner (not to copy the feature after that actor, at least). Fortunately, [дощ] for "дождь" is rarely heard even from those actors above 40 years old.

Wow, actually there are articles on that thing.
словоерс - Wiktionary