An iPad, whether a Cellular model or not, is not capable of directly accessing Cellular Voice or SMS/MMS Messaging features. An iPad with either WiFi or Cellular connectivity alone can only access IP-data services. If you have added an eSIM or physical DataSIM and Cellular plan to a WiFi+Cellular model of iPad, the number associated with the eSIM/SIM card is only used to identify your account for billing purposes. This number is cannot used for making calls or sending messages; an iPad is not, and can never be, a standalone substitute for an iPhone.
However, when coupled with an iPhone, the capabilities of iPad significantly broaden to include access to Cellular Voice and Messaging services of the associated iPhone - relayed to the iPad over WiFi using Apple’s continuity features. As such, cellular calling and messaging capabilities of the iPhone are extended to the associated iPad.
More information about Continuity and the relevant Cellular services can be found here:
Continuity
Use Continuity to connect your Mac, iPhone, iPad, iPod touch and Apple Watch – Apple Support
SMS/MMS Messaging
How to forward SMS/MMS text messages from your iPhone to your iPad, iPod touch or Mac - Apple Support
WiFi Calling
Make a call with Wi-Fi Calling – Apple Support