The following is what happens on my HTC One, so I'm assuming the same will apply on your device.
If it's an icon and name just tap it and slide the info card up from the bottom of the screen, tap the 'Call' button and your dialler should open giving you the option to call the number or add it to your contacts/people.
The same applies if you have gone into 'Explore around you' at the bottom of your map screen - just tap on any item and the same info card comes up.
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