In general, phone app shows a badge notification when you've missed a call (couldn't / wouldn't answer it), and the notification goes away when you open recent calls.
If the notification is still there, try to force restart your device:
- On an iPhone X, iPhone 8, or iPhone 8 Plus: Press and quickly release the Volume Up button. Press and quickly release the Volume Down button. Then, press and hold the Side button until you see the Apple logo.
- On an iPhone 7 or iPhone 7 Plus: Press and hold both the Side and Volume Down buttons for at least 10 seconds, until you see the Apple logo.
- On an iPhone 6s and earlier, iPad, or iPod touch: Press and hold both the Home and the Top (or Side) buttons for at least 10 seconds, until you see the Apple logo.

Check also: Settings>Notifications>Phone.. where you can disable icon app badge.
Regards
Giulio
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