No, the server cannot make calls on the client. gRPC works with HTTP, and HTTP did not have such semantics in the past.
Various ways to achieve this have been discussed, but I don’t know about any work or general design agreement. gRPC supports bidirectional streaming, which can help you with what you need. In bidirectional streaming, the client can respond to messages from the server, but the client still calls the server, and only one type of message can be sent for this call.