In the devices, page, look at your device entry and set Bank Support to MSB, LSB or MSB:LSB (this depends on your device, not sure which one the Voice Live uses - the manual doesn't say). If the hex numbers you posted are for the Voice Line, you would use LSB as your setting in the GT. Once you do that, you'll be able to specify bank numbers in the PC Messages box for the device the presets page.
For the Sysex message, just type those numbers in: B1 20 02 C1 01 00 in one of the entries on the Sysex page.