Yes, pedir could mean "to order" (e.g food and drinks in a bar) or to "ask/ask for" something. We have different examples in the lesson covering both meanings, for example:
"Siempre pido una cerveza fria."
I always order a cold beer.
"Ellos piden 500 euros por el alquiler."
They are asking for 500 euros for the rent.
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