Clearly we need a solution to having little contact with our audience. The simplest approach we can take is informed trial and error. This approach is most likely how you began interacting with your community whether you were aware of it or not. Informed trial and error is when you build your website as best you know how, watch your traffic patterns, see what works, see what doesn't work and make adjustments according to your observations. This process can be effective, but it is normally quite slow, cumbersome and you will often miss out on significant opportunities or visitor needs that you can't currently perceive on your own.
If you're serious about effectively responding to your community's wants and needs, you're going to have to reach out to them. There are a few different approaches you can explore to get the kind of feedback you want.
The simplest approach is to make it easier for your visitors to contact you and to explicitly request that they do so. You can accomplish this by adding some feedback request text on some or all of your pages along with a link to a form where visitors can type in their comments and submit them with a single click. There will still be some overhead involved in this scenario because people will have to type out a message. As a result, you're still likely to get only people who have extreme views, either positive of negative. You're not likely to get feedback from the bulk of your visitors and you will likely get very few suggestions for improvements to your website.