Who called from 2164550537

This is a doctor's office confirming appointments.

its saying i got a message and its asking me to enter a box number and pin number. what is that?

Your box and pin number are to get into your private mail box.  They are on the card you were given to access test results and messages from the doctors.

It's planned parenthood, you should have a pin to listen to personal voice messages such as test results

I just got a call from 216-455-0537 and it was Planned Parenthood.  They usually don't leave messages because they try to maintain people's privacy.