Pseudo-geometric designs are combinatorial designs which share the same parameters as a finite geometry design, but which are not isomorphic to that design. As far as we know, many pseudo-geometric designs have been constructed by the methods of finite geometries and combinatorics. However, none of pseudo-geometric designs with the parameters $S\left (2, q+1,(q^n-1)/(q-1)\right )$ is constructed by the approach of coding theory. In this paper, we use cyclic codes to construct pseudo-geometric designs. We firstly present a family of ternary cyclic codes from the $m$-sequences with Welch-type decimation $d=2\cdot 3^{(n-1)/2}+1$, and obtain some infinite family of 2-designs and a family of Steiner systems $S\left (2, 4, (3^n-1)/2\right )$ using these cyclic codes and their duals. Moreover, the parameters of these cyclic codes and their shortened codes are also determined. Some of those ternary codes are optimal or almost optimal. Finally, we show that one of these obtained Steiner systems is inequivalent to the point-line design of the projective space $\mathrm{PG}(n-1,3)$ and thus is a pseudo-geometric design.