The only way the Infotainment system will recognize your voice is with a wired headset with microphone, the Infotainment system does not have the capability built in to it to use a Bluetooth headset.
Things have changed.
The new (Nov 2016) Sena Freewire plugs into your 7 pin Din and connector and Bluetooth's to your Sena headset enabling all voice command function along with CB and phone.
Bad news for me is as new is the Freewire only works with the Sena 20s and 10s headsets. Sena did these first these are the most sold and out in the market. I have the new 10U headset as I wanted it built into the helmet. The new firmware should be available soon for my 10U headset so it will work property with the Sena freewire.
The Audio works great so for now I've Unpaired my phone from the Street glide and paired it to headset. everything works correctly now except voice commands.
Dave