Flight Crew Last 90 Days 218; Flight Crew Type 250
Communication Breakdown; Situational Awareness
ATC Issue All Types; Deviation / Discrepancy - Procedural Clearance
Flight Crew Requested ATC Assistance / Clarification
Human Factors; Procedure
We were descending to 9;000 feet on ATC clearance approximately 15 miles from [airport] we were switched from ARTCC to [airport] Approach. Approach acknowledged check-in and said 'cleared for visual approach to Runway XX' at [airport]. Clearance was read back and we Pilots discussed for a moment and asked for confirmation that we were cleared for the visual to Runway XX.  ATC confirmed we were cleared for the visual.  We continued to descend and at 8;200 feet and Approach asked if we were cleared to 9;000 feet.  We responded that we were descending due to the clearance for the visual approach to Runway XX.  ATC responded that we were cleared to 9;000 feet and to 'expect' the visual.  ATC then said to continue descent to 4;000 feet.The Captain and I both heard cleared the visual to Runway XX rather than 'expect visual to XX.' The visual approach was conducted and the airplane landed safely at [airport]. Controller sounded bored and tired.
Checked in on Approach Control with previous Controller clearance direct to [fix] maintain 9;000 feet. Checked on frequency and Approach Controller cleared us visual Runway XX. I asked First Officer to verify visual clearance 'verify we are cleared visual Runway XX ?' Controller responded we were 'cleared visual XX.' Now with slow descent and busy frequency; Controller then asked if we were assigned 9;000 feet as we were now passing approximately 7;700 feet. We replied how we had verified with him; 'cleared visual.' He then said 'just descend to 4;000 feet. Then subsequently asked if we had airport (which we did throughout assigned check on with his frequency) and again cleared us visual Runway XX.
Both pilots heard ATC clear them for a Visual Approach. When descending ATC questioned them about the descent clearance. The pilot informed ATC that they had been cleared for a Visual Approach. ATC then assigned the flight an altitude and later re-cleared it for a Visual Approach.