Apple may have made some poor decisions about Google Voice on the iPhone, but if you still want a bit of handy integration between your iPhone and Google Voice, the Google Voice Speed Dial Bookmarklet generator is worth a look.
Just point your phone to http://www.ironicsans.com/gv/, follow the instructions there (you have to do a little digging in your Voice account to get the proper credentials for the bookmarklet to work), then enter in your Google Voice code (obtained above), your iPhone number, and the number of the person you'd like to call.
At that point you'll hit Generate, then the tool will dish out a few more instructions you'll need to follow. Once all's said and done, you'll have a quick-dial bookmark in mobile Safari that you can hit to speed dial specific contacts (faster than going through the mobile GV site as it is at the moment).
Frankly, it's pretty convoluted and hardly even useful compared to what we could get if Apple hadn't rejected the official Google Voice app, but kudos to the author for a clever idea.