The present disclosure generally relates to using voice interaction to access call functionality of a companion device. In an example process, a user utterance is received. Based on the user utterance and contextual information, the process causes a server to determine a user intent corresponding to the user utterance. The contextual information is based on a signal received from the companion device. In accordance with the user intent corresponding to an actionable intent of answering the incoming call, a command is received. Based on the command, instructions are provided to the companion device, which cause the companion device to answer the incoming call and provide audio data of the answered incoming call. Audio is outputted according to the audio data of the answered incoming call.