Voice messages are asynchronous: the companion replies in text and you tap to hear it read aloud, or it sends an audio clip you play back. The generation happens after the reply is written, so there is no timing pressure and quality can be high.
Voice calls are synchronous. You speak, it listens, it answers, and the whole loop has to close fast enough to feel like a conversation. This is a much harder engineering problem and it is why the list of platforms that do it properly is short.
Nine platforms here list voice messages. Six list voice calls: OurDream AI, SweetDream AI, Nomi AI, Kindroid, Replika and Muah AI. If the feature matters to you, that distinction is the one to check on the pricing page, because both get written as voice.