"Pick up" has many uses:
My friend's son picked me up at the airport.
Harvey Milk picked up Scott Smith in the subway
in the beginning of "Milk."
Oh, no! The baby made a mess.
Can you pick up the clothes on the floor?
Please pick up some milk on your way home.
• • •
But be careful! "Pick up" doesn't work here:
Ken: Can you help me?
Naomi: What's the matter?
Ken: I can't decide. Help me pick up a tie.
Ken: Which tie should I wear?
Naomi: Oh...pick out a tie! That one.
"Pick out" = choose