In iOS you can not keep 2 process in running from 1 app even not in foreground, background or terminated state.So pushkit technique introduced to notify user about incoming VOIP call in terminated state.
In Android you can keep 2 process running together, if you close ( terminate ) your app then still 1 another process can be live in background and terminated state.
You can implement websocket, and websocket has to be another service apart from your Android app. Websocket service will be keep running even in terminated state, once you receive some response on websocket you can invoke your main app about incoming call.
Like Skype, WhatsApp other app does not keep sending request and handle response to know user is online or offline. That works on websocket technique. Any single change on server, server will send information to websocket.