You may make calls from an account in the Fritz!Box Fon without having performed SIP REGISTER prior to the call. This option is not officially supported, but you may manually edit the voip.cfg file on the box (check the forum for instructions how to do that) to change an existing account's properties: do_not_register = yes.
The other option was mentioned in the previous posting: making outgoing calls to a SIP-URI. This is also possible without prior registration.
What you are looking for is something in between... you want to make authenticated calls, but only at the time of actually making a call, the SIP REGISTER should happen. I am not sure whether this is supported. Check out the first option with do_not_register and see if the account credentials will be passed anyway prior to calls if the provider's SIP server requires that. To be honest, I've never tried that variant myself.
--gandalf.