He failed to 'take heed of' our advice. = He failed to 'pay heed to' our advice. [=he failed to follow our advice]
We must 'heed' the words of our leaders [=listen to our leaders' advice] and make peace.
Many people have 'heeded' his call to volunteer. [=listened to him and volunteered]
(..) This is where the pagan died. Then it is a sacred place. How dare you say such things? - Are you mad? - I may be. But since I love some of you, I urge you again to take heed of my warning. The sons of Ragnar are sure to come! As for you, sweet sister, I counsel you, have a care for your own soul. (..)2017 TvShow: Vikings Title: The Great Army Season: 4 Episode 17