Yes but that depends on the taxi company in your area.
[For version 3.x.x and above]
In the main screen, Select [Reserve Taxi] in the top part of the screen.
[For version 2.x.x and below]
Booking is almost the same as ordering a taxi.
First set your desired pickup location, then in the order detail screen below the taxi company picker, change [Now] to [Reserve].
After that, select your desired pickup time and date.