Checking more about this integration, looks like that currently it is not native with HubSpot, Vonage is doing the integration on their end.
Their website here informs that there is an option:
"Screen pops let you know who’s calling and provide relevant account details from HubSpot. Quickly create contacts or lead while on the call with new customers."
My recommendation would be getting in contact with the Vonage Technical Support team as they will have more information on how you can set up this goal in your account.