voice message to press any number then the pound sign

Yes, when you hear the start of the recording hang up. 

Not what I meant. The calls are from people we know. They call back and ask what happened?

From your discrimination the CID is from someone you know, but at times there's a recording instead of the person you're expecting. At those times, hang up don't push anything, just hang up. What you originally described is number spoofing.

You don't happen to have another phone with call blocking that you're not answering from do you?

I thought I took the call blocking off.

So is that a yes? If so are you answering from a phone not associated with the phone that has the call blocker. You need to be specific.  

Since the OP never posted back this is what I think was happening.

They have a phone with call blocker and call screening was on, which would give the caller that recording. They were answering the call on a phone not connected to the system with the call blocker and they were hearing their own phone systems recording. 

I dug deeper into the call blocking system on my phone.  Took off the blocking and set it to allow blocked calls.  Hopefully this will solve the problem.  Won't know until (if) it happens again.

Thanks for your help!!