Voice command with the phone? Hmm.. I don't remember that working. The voice command in general sucks anyway (limited features). Since my bluetooth v710 doesn't work very well anyway, I couldn't use it even if I wanted to. But, for example, I'm pretty sure you can't call out via voice...like dial a number. But I could be wrong. Most of the features are just by using the touch screen, and when you're driving it's even more limited... ie, you can't dial a number while driving. You have to use a phone book entry to call out.
I'm also making an assumption you are talking about using the Lexus voice features.. not the phone's own voice features. I have no idea how that would integrate since I've never tried that.
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You're right, you can only use the voice commands embedded in the Lexus. You can not create more commands such as recording a voice then use it to make a call. You can make a call by speaking into the phone. If bluetooth is on and active the conversation will be hands free after the initiation of the call. Works with my Motorola Razr V3.