Yes, courier service can pick-up from seller if you got an account with them. As I know most of courier company like city-link & GDex require your company certificate before issue an account to you.

And if the pick-up address is not similar with the address that you submit to open account (we called it reverse pick-up), then they will charge you additional RM8~RM10. (if not mistaken, city-link will charge you RM10, GDex will charge you RM8).

And above case are talking about reverse pick-up with-in malaysia only. Are you planning to pick-up from oversea seller ?