Missed calls on lock screen iPhone 11 Pro
Notification bodies are protected on the lock screen by default. You don't need to tap the notification to see what the message in the notification is; in fact, that causes the redial.
When you get a notification that just says ‘Notification’, look at your device to unlock it. If your device isn't looking for your face, slightly slide up from the bottom of the device. When the device is unlocked, the notification text will be revealed.
No need to swipe all the way up to the home screen and don't tap the notification.