Especially since, being a smaller ship on a more limited mission, they didn’t have a dedicated counselor like the Galaxy-class ships did.

…or at least that was what I was about to post, until I remembered Counselor Migleemo from Lower Decks. I guess Voyager’s counselor was one of the casualties in the first episode.

Edit: Checking Memory Alpha to compare the California-class to the Intrepid-class, it seems possible that Voyager might have been an even smaller ship than the Cerritos. Memory Alpha doesn’t have length, tonnage, or crew complement figures for the Cali-class, but it does have “at least 20” decks compared to Voyager’s 15. That might just be because Voyager doesn’t have a vertical neck between its saucer and engineering section, but then again, the Cerritos also has stuff like cetacean ops and a gift shop…

Edit 2: Thinking about this got me re-watching Voyager, and I just got to the scene in 1x05 “Phage” where The Doctor confirms that Voyager doesn’t have a ship’s counselor (i.e., it’s not just that we never saw one on-screen).

Edit 3: Janeway laments the lack of a counselor near the beginning of 1x06 “The Cloud,” too.