Yes, you can choose the amount you want to drawdown each month from your SIPP/personal/work pension (assuming you don’t have a defined benefit/final salary pension), and the pension provider ‘pays’ you this amount direct to your bank and also sorts out your tax code with HMRC, just like an employer.
For example I get ‘paid’ £1047.50 per month from my pension provider. I chose this amount as it is equivalent to £12570 per year so I don’t pay any income tax. I could take more, but don’t want to be taxed. I make up the rest of what I need to live on from my ISAs and from the 25% tax free lump sum.