We have had hypersonic missiles, like the Russian or Chinese or GB or India, for decades, and they are called ICBMs. Every ICBM and SLBM (submarine launched ballistic missile) is hypersonic cause it’s traveling at speeds over Mach 20.
Kinzhal and Avangard HGV are just a ballistic missile and a reentry vehicle respectively, these have always been hypersonic. Did you know that a WWII era V2 rocket is also hypersonic in its terminal phase?