If it's showing up in a network discovery scan, it had an IP address at one time. A device cannot connect to a network without an IP address.
You can also ping by name as well if you don't know the IP address.
Sounds like to me what you are seeing is someone's mobile phone that has connected to your wireless network. Since these devices are mobile yiou won't see them there all the time.
If they are listed and the device isn't present, they should disappear as soon as the IP lease expires.
In my personal opinion, as long as you have security enabled on your wireless network, this is a non-issue. If a mobile phone has WIFI enabled they will scan for local WIFI networks they can attach to.
If you want to extra secure, disable DHCP on your wireless network and then set up your machines with staic IPs. This way no other device will be able to connect to your network and get issued an IP unless you specifically set it up. But for the average person this is overkill.