The Other Reason/claims page there is for if you used the money for a qualified reason which is unrelated to pulling out a contribution.
And you don't have to be over 59.5 to pull out contributions you've made to a Roth IRA without penalty.
https://www.schwab.com/ira/roth-ira/withdrawal-rules#:~:text=You%20can%20withdraw%20contributions%20....
