Hello. I recently had this problem, and unfortunately this thread doesn't answer the question. Because it is option #1 on my Google search, I assume it will be someone else's, so I will answer.
The solution to the Voice Control thing is odd. You actually have to turn Siri ON. With Siri on, it replaces Voice Control, and that specifically won't pop up anymore. Instead, Siri will. Siri will do the exact same thing, so now, we make it so Siri doesn't make those calls.
You go to settings>general>passcode lock. Turn it on. Pick a pass code. Then, on the same screen, scroll down and click Siri, turning it off.
This will make it so, in order to use Siri, you have to have typed in the passcode. If the passcode has not been typed, it won't activate. Thus, eliminating calling Mr. Cousin whom you forgot you even had their phone number, and playing embarassing songs during inconvinient moments.
I hope this helped.
no, i have already turned off siri and my voice control is still on...
I found the solution. Because I have an iPhone 4S with Siri, I turned Siri on, a passcode on, then deactivated Siri from the lock screen.
Deactivating Voice Control from the lock screen doesn't work, but Siri does.