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Well, the fact that the person in question has command auditory hallucinations which have been more or less persistent for good 10 years and he lacks insight into his illness since as you said the command hallucinations try to propagate him to enact violence against self or others, thus making him a potential threat to the safety of people around him plus there seems to be a tangible paranoia in his demeanor, so all of the points indicate towards him suffering from a psychotic illness which could be schizophrenia or any other variant of schizophreniform disorder.
The fact that he is not delusional and does not have negative symptoms, does not disqualify him from the category of psychosis / schizophrenia as the same can be well described with the presence of only hallucinations and paranoia and violent thoughts.
I reckon that this man can become a threat to his own life and to the safety of other owing to the command voices in his mind and due to his paranoia, so he needs to be taken to an indoor psychiatry facility for sometime where he can be thoroughly assessed and started on proper treatment thereafter.
I hope this helps.
Wish you all the best.
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