Hello Nada. As far as I recall, the DWP has only rung me once. I think it came up on my phone display as an 0800 or 0845 number, definitely not as withheld. If you put on your ESA50 that you did not want to be contacted by phone, perhaps that was not conveyed by ATOS to the DWP. Similarly, maybe when ATOS phones someone, then it comes-up as withheld.
The only people who phone me with withheld numbers are medical staff from the hospital.
I have joined the telephone preference service
www.tpsonline.org.uk/tps/ so I do not tend to get bothered by people trying to flog stuff, and also so that I know that other calls are usually going to be important.
The DWP might have needed to call you for some other reason if they have your telephone number from information you have given them previous to the ESA50.