What they gave you is a start-up kit. Don't use the card, meaning don't activate it by using it in an ATM. Simply ask the bank to give you a personalised card which has your name printed.
They cannot deny nor charge you if you haven't used the original card which came in the start-up kit.
HDFC Bank offered me the same start-up kit but I refused their card, asking them to issue me a personalised card which has my name printed. I wasn't charged anything for the new card.
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BTW, ICICI Bank has some nice cards, some of which have amazing features. Be sure to check on the fees and the enrolment and annual charges.
ICICI Bank | Debit Cards | Types of Cards