Yes, the OP scripture of 'You people' applies to all believers, of every generation, even today.
"..You people have never heard his voice nor seen his form at any time, nor do you have his word residing in you, because you do not believe the one whom he sent.”
Three senses at play metaphorically...hearing, seeing and sensing/touching. The last one is the key and the driver that usually gets overlooked in this scripture. If one does not have the word of God within them, first being touched by God, they can neither see: experience, or hear: the ability take the inner messages/cues of God to the mind and heart. Sensing/touching, being drawn to the spirit of God activates spiritual ears and then the eyes to then see or understand; the initial basis to become a genuine believer in God
Only one who is truly touched by God who first believes in his Son, as Peter did, in identifying who Jesus really was, is an example of a Pre-Pentecost believer. God drew him to know the truth.