That's what you get when you share the same Apple ID. Apple has been saying for at least a decade now that family members need to each have their own Apple ID. Read this --> Make sure that each family member has a unique Apple ID - Apple Support
You can then set up Family Sharing to share things between each family member --> Set up Family Sharing - Apple Support
Finally, to help you, Lawrence Finch, a respected senior member of this forum authored a guide on how you can unshare an Apple ID --> How to “unshare” an Apple ID - Apple Community
Until you do this, your phone calls and voicemail will be easily accessed by all who share your Apple ID. And your daughters have always had the ability to read your text messages, even if you think you turned that off. They can turn it on any time they want without your knowledge or permission.