Does Apple call users when iCloud is hacked?

Apple will never call you. If they do have to suspend your account for security reasons they won't tell you, they will wait for you to find out and contact them, so that you can be sure you you are talking to.

The people who rang you are trying to get you to reveal your ID and password. As long as you didn't tell them anything you don't have a problem. They are just ringing people at random - it's very unlikely you've been hacked - and you've been unlucky anough to get a number of these calls. Just put the phone down. (Changing your password likely wasn't necessary but it's not a bad idea to be completely sure.) It would quite wrong of me to encourage you to blow a sports whistle down the phone.

No, Apple NEVER initiates telephone contact with a customer. It's a scam. If you've changed your Apple ID password then you should be safe as long as you provided no other personal info or gave them access to your Mac.