In order to return to app after call, I use telprompt instead of tel. Codes like this:
[[UIApplication sharedApplication] openURL:[NSURL URLWithString:@\"tel
telprompt:// and tel:// are both valid custom URL scheme of iOS, for now.
Since Apple does not have documentation on telprompt, its functionality may be removed without notice (low chance though).
Note: Their behavior is different. The former one is better, as it won't dial the number directly and won't stay at Phone app after call.