the insurance company keeps leaving msg, asking me if I plan to pursue a claim, Do I have a right to ?

Yes- you do have a claim, or rather, your dad's estate has a claim.  You can become the executor or administrator of his estate, and pursue that claim against your parent's car insurance, even though your mother was the driver.  Your father has a wrongful death claim.  If you would like to talk about this case, please call my office and I can help you.  I'm sorry to hear about the loss of your dad.