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If you get there, then you have a pretty competent team. They actually perform, in some ways, better than human players.
Single = 1
Co-op = 2
Strength in numbers!
However, to answer the OP's questions, voice chat can indeed be turned off and you can always check your ping (turn numerical ping on from options) or host your matches if you want to. I don't think that in its current state the game is worth the money without human players, so if you intend to buy it, do be prepared for the best and the worst when it comes to human interaction.
they never revive you when necessary
You can play with bots, which kind of sort of technically allows you to play by yourself, but the game is a multiplayer game.
The bots are not 100% reliable and tend to pull mobs when you least want them to.
P.S. Oh - I might teabag you from time to time. I'm just cleaning your face.
A good strategy I find is to let them clear the horde while you focus on sniping elites and specials.
For an actual reply to your specific questions:
Yes, there is voice chat in this game. It is enabled by default (but mercifully defaults to Push-to-Talk), though it can be easily disabled as there is an option to do so in the options menu. Honestly though, because of the Push-to-Talk default you'll very rarely hear it used even if you keep it enabled.
As for griefing, I can't speak for the whole player base, but it's been very rare in my experience. This is a co-op game, not PvP, so that type of mentality is already less as a result of that. Friendly fire is disabled entirely on lower difficulties, and not generally a major factor on higher difficulties. Generally the worst you'll encounter is the odd person going AFK mid-match without explanation, or queuing up a match and AFKing, leaving you waiting for them to return to start the match (or get bored and quit to look for another match).
As far as co-op versus single player goes, yes, it is entirely possible to play the whole game single player - the game allows you to host private games so that only your friends can join (or nobody if you want to solo). You'll be given NPC bots instead of actual players. You can choose setups and loadouts for these bots as you like, and pick which characters the game uses for them. However, the game is balanced for multiplayer. So you will generally find that things are more difficult relying on NPC bots, as usually even the worst random players will have more situational awareness than the bots occasionally display, and aren't prone to the odd AI bugs you might see once per map or so.
Basically, on lower difficulties the game is perfectly playable as a single-player experience. But on higher difficulties, unless you're especially skilled, you might struggle. Legend difficulty is clearly not balanced with single-player in mind (although that's not to say it can't be done).