They aim where it will be, and from the Voyager side aiming at the brightest thing in the sky, the Sun, is enough with even the most narrow of beams the antenna on the craft can produce. Transmitting from Earth they wind the power up to the highest they can get, because the receiver there is not as sensitive as the cryocooled HEMT receiver back here, which is not a 40 year old design, based on the absolute lowest noise bipolar transistors they hand selected from a massive batch back then, and soldered in place carefully.
Because the receiver has drift issues they also send on a large selection of frequencies so the recovered control signals are decoded correctly, bit difficult to send out somebody there to replace the failed capacitor in the working receiver.