You can add the collision event callback to the object itself.
var paddle = this.matter.add.image(400, 550, 'assets', 'paddle.png');
var paddle.setOnCollide(pair => {
// pair.bodyA
// pair.bodyB
});
See the documentation under enableCollisionEventsPlugin(): https://photonstorm.github.io/phaser3-docs/Phaser.Physics.Matter.MatterPhysics.html and also what a pair looks like: https://brm.io/matter-js/docs/files/src_collision_Pair.js.html#
You can also listen for specific collisions.
var paddle.setOnCollideWith(ball, pair => {
// Do something
});