In the Google quote you link to, Google is not contacting your page. Rather, Google will index pages that are only linked to, which it has never crawled, and will serve up those pages if the link text matches your query. That's how you get those search results where the snippet is "A description of this page has been blocked by robots.txt" or similar.

There's a somewhat related issue where to ensure your site never exists in Google, you actually need to allow it to be crawled, because the standard for that is a "<meta name=noindex ...>" tag, and in order to see the meta noindex, the search engine has to fetch the page.