It is narrated from Sayyiduna Jabir bin Samurah (may Allah be pleased with him) that Sayyiduna Bilal (may Allah be pleased with him) did not delay the call to prayer (that is, he gave the call at the very beginning of the time). Yes, he would sometimes say the iqamah a little late. And a statement has already passed that Sayyiduna Bilal (may Allah be pleased with him) used to give the call to prayer when the sun had declined.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 2064