How to use RETURNING with ON CONFLICT in PostgreSQL?

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I have the following UPSERT in PostgreSQL 9.5:

INSERT INTO chats ("user", "contact", "name") 
           VALUES ($1, $2, $3), 
                  ($2, $1, NULL) 
ON CONFLICT("user", "contact") DO NOTHING
RETURNING id;

If there are no conflicts it returns something like this:

----------
    | id |
----------
  1 | 50 |
----------
  2 | 51 |
----------

But if there are conflicts it doesn’t return any rows:

----------
    | id |
----------

I want to return the new id columns if there are no conflicts or return the existing id columns of the conflicting columns.
Can this be done? If so, how?

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