Hi,
Yes you can withdraw your PF and Pension amount through your UAN login. You are also eligible for Gratuity.
If you are planning to join other Company I would suggest you not to withdraw PF money but to transfer to your new employer PF account through UAN login. Transfer of PF money will be beneficial to you in terms of some bulk savings for your retirement and in other 4 years you will become eligible for Pension also which you will get after your 58 years ( subject to transfer of PF money with same UAN number and total service more than 10 years).