Windows 10 Your Phone has now received a new feature that allows it to display contact list from connected Android smartphones. You can message or place call to contacts if you have enabled the Your Phone app to do so.
There is also a new option in settings to enable disable this feature. The option mentions that user will be able to even manage the contact list via Your Phone app on the PC.
Though the manage contact list option is not available so far. You can only view contacts, message to them and place calls currently. Just keep in mind that the Contacts feature is still in preview.