Listeria hysteria is somewhat out of control it seems to me. I've even heard of some obstetricians advising pregnant women eat deep-friend food to reduce their risk, but obesity and poor nutrition carries it's own risks, and trans-fats are known to reduce breast milk supply. So what is all the fuss about soft cheese?
Listeria is a foodborne bacteria which can cause a disease is called listeriosis. If you eat contaminated food the bacteria may penetrate your intestines and travel throughout the blood stream. Listeriosis is a dangerous disease for pregnant women as it may infect the baby and cause misscarriage, stillbirth or blood infections. But listeriosis is extremely rare, read this if you are interested in details.
The main thing you need to know is that listeria can't survive high heats.
In Australia all dairy products are pasturised, it is illegal to sell anything unpasturised labelled as a food product (which is why you see raw milk at farmers markets labelled as bath milk or pet food). Pasturisation involves extremely high heat, which kills listeria.
But there lies a small risk is in poor storage and whilst you can store your soft cheeses in the fridge you can't be sure how the supplier has stored or transported the cheese prior to purchase.
There is also a small risk of cross contamination, which means the listeria bacteria contaminates a dairy product after it has been pasturised, so it helps to buy cheese in a sealed packet, not from the deli section.
If you really enjoy soft cheese there is no need to deprive yourself. Cooking cheese (like canneloni or pizza) will kill listeria, so poor storage and cross contamination can be negated anyway.
In the end the choice is yours. Inform yourself of the risks of listeria and make up your own mind what you choose to eat.