In the Phone app, tap the ‘Search contacts & nearby places’ box. Type the name of the person you wish to call. As you
type the name, the list of search results will narrow down in real-time. As soon as you see the person you want to call, tap their name and choose which of their numbers to dial, and you’ll be connected.
Instead of always selecting which number to dial, tick the box that says ‘Remember this choice’ before tapping the number you wish to call. In the future, to call that person on another number, use the People app instead to look up the contact’s numbers.