A call goes to voicemail when the device (iPhone) is not available to answer the call. Even if your phone is turned off and then run over by a bus, people can still call your number, hear the greeting and leave you a voicemail message and you can retrieve that message from another device, including a landline. No iPhone involved.
Not all carriers support Visual Voicemail and other features. If your cellular carrier doesn't support the features, you should be able to set up a custom greeting directly with them.
Have you checked with your cellular carrier?