Sure can here, and at the bargain price of $2.59 in my city. Handicapped, old and infirm people really get a such a deal.
EVERY self-serve place I have seen has a sign saying "handicapped -- sound horn for assistance" or has a large push button placed low down for easy access that will also call an attendent. In order to comply with the ADA, they have to. If you use that service and you are handicapped, you will get charged the same price as everyone else. If you are handicapped you do not have to use the "full-service" pumps and pay extra.
This is yet another false argument from those who don't like freedom of choice and insist on government control over people's everyday decisions.
I live in Texas. I'm disabled. I usually pump my own fuel anyway. There are all of 4 (I think) full-service stations in town, and two of them have ripped me off when I asked them to give me the handicapped discount. I decided it was easier to do it myself than go through that again.