You won't see that Google Chat "pseudo phone" entry unless you first use Google Chat to make an outbound phone call from Gmail.
Chat is obsolete and it is being phased out, but, as of today, at least, you can still use it.
You need to first successfully download and install the web browser plugin, and then enable it to "always activate", if you are using Firefox, and then you should see your avatar (the small head and shoulders or your photo, if you've added one), on your Gmail inbox page. Click the avatar. If it says "revert to old chat", then click that. If it says "try the new Hangouts", then don't click that. Now, click the telephone handset icon to make a call. There's more to the setup than this, including configuring your computer's audio devices. If you can't figure it out, post over on the Google Voice forum.