The specific 'sub-contact' shows directly beneath the contact's name in the call history; same whether you answered it or missed it.
Even if your contact has several numbers in the same category [some of my company contacts have several 'mobile' tags] the phone knows which one of those called.
Simply tapping the caller in the list will dial that number, which is far quicker than the old method of finding the correct one in another list, accessed by the ⓘ button.
Screen shot shows a call from a contact's "mobile" number:
