Hi,
I would not say 'talk' is inappropriate. It depends on what the speak/writer wants to convey. If there is a dialog or conversation between your inner voice and you,
talk is fine. We use
speak instead of
talk to indicate one-way communication.
In regard to the structure of the sentence,
does corresponds to the inner voice
not you, so it has to be singular. And when we form a question with
does/do, the main verb should stay in its base-infinitive form (i.e., talk in this case); thus, it is irrelevant whether the subject is singular or plural.