We do have plans to make the integration offer some additional ways to jump into a call, and have been talking about adding video chat. But our focus has been on building the best text chat possible, given there are multiple actively developed FOSS video call systems that we can integrate with.
This is the problem with pitching zulip to this audience. The original thing that got gamers to switch to discord, it was their original and probably still is their primary target market, was a single login to a huge universe of voice chat rooms. Before discord gamers were setting up/renting teamspeak and ventrillo services (that were voice chat only). Hell for the first couple of years of using discord with my gaming group the only thing anyone ever posted in text was what time they were going to be on and what game they wanted to play.