Am I able to pick up an order from the distribution center? Instead of waiting for it to be dropped off

No you can not. It will go to your local usps be sorted for delivery and after an attempt you will have to go to your local usps. This facility gets way to much mail for all of Colorado coming in. And tons going out... there is no way to find your mail as it is bulk sorted not individually

It says it got here at 6:02 pm , will I be able to pick it up

Depends on when it's trying to arrive