I don't know of anyway to do that, but when you are browsing contacts all you have to do is "swipe left" on the contact to compose a text message, or "swipe right" to call. It is a lot faster than selecting the contact, then tapping on what communication method you want to use...
You can create a Shortcut to a Contact, very simple.
Touch & Hold to add something to the home screen (like you would a widget or folder),
select Shortcuts, and then Contact. Pick who you want.
Whenever you hit their icon, you will be shown buttons to Call, Text, Email, etc...