NO! Not only should you not take there call, but you are not required to speak to them, in order to make a claim with them. The only thing the insurance adjuster wants to do is to get you to accept a very, very small offer in order to make you go away. The adjuster wants to get you on the phone and befriend you so you trust that that adjuster is on your side and is acting in your best interest. That could not be any further from the truth!
The fact is, there is nothing good that can come out of speaking to the insurance company for the driver who caused your injuries. It is at least worth your time to speak to a lawyer about your case, before you start speaking with the adjuster who really does not care about you at all, but rather, only cares about getting rid of you on the cheap!