He gestured his hand in order to call him. Gesture here is an action done by the person.
I made a gesture to my partner, she knew I was hungry.I was annoyed so I made a gesture to make my feeling known.
The gesture was clearly angry. He made a nonchalant gesture to show he didn't really care.
Don't gesture at me like that!
He used a common hand gesture to summon a crab.
It is wise to restrain yourself from using any gesture in unfamiliar territory.
To the uninitiated, the gesture had no meaning.
Don't stick your tongue out like that. It's a rude gesture.
I wanted to scream when the woman behind me gave me a rude gesture with her middle finger.
"I will gesture to you when it is your turn."
Your noble gesture shall not go unrewarded. That was a noble gesture. Sir/Ma'am, I am trying to gesture you forward.
"I don't appreciate that gesture, young man!"
David made a vague gesture in the direction of the computer and returned to staring gloomily at his coffee.
He made a kind gesture by holding the door open for the elderly woman.
I used a hand gesture to tell the man to come over here.