Animals engage in complex social encounters that influence social groups and resource allocation. During these encounters, acoustic signals, used at both short and long ranges, play pivotal roles in regulating the behavior of conspecifics. Mice, for instance, emit ultrasonic vocalizations, signals above the range of human hearing, during close-range social interactions. How these signals shape behavior, however, is unknown due to the difficulty in discerning which mouse in a group is vocalizing. To overcome this impediment, we used an eight-channel microphone array system to determine which mouse emitted individual vocal signals during 30 minutes of unrestrained social interaction between a female and a single male or female conspecific. Females modulated both the timing and context of vocal emission based upon their social partner. Compared to opposite-sex pairings, females in same-sex pairs vocalized when closer to a social partner and later in the 30 minutes of social engagement. Remarkably, we found that female mice exhibited no immediate changes in acceleration (movement) to male-emitted vocal signals. Both males and females, in contrast, modulated their behavior following female-emitted vocal signals in a context-dependent manner. Thus, our results suggest female vocal signals function as a means of ultrashort-range communication that shapes mouse social behavior.