I've found solution for my issue somewhere on Zoiper Community Support.
Zoiper->Settings->select preferences from drop down list->audio->select Device Tab->at the bottom there is checkbox "Use generic handsets" - I've disabled this and that was it.
Zoiper is not dropping calls and Skype is not trying to dial at the same time.
Initially thought that could be SIP ALG on router or Stun enabled on Zoiper (for dropping calls).