PF - Do I have to contact company B for withdrawal of company A PF balance?

I worked in A company 2 years and joined company B where they maintain PF in trust(Company B). I would like to withdraw my PF balance in company A for personal reasons.
How can I withdraw?
1. When I open my UAN Number, I can see company B for claim which is maintained in trust.
2. When I joined company B, they asked to fill form for PF transfer from company A to company B PF. I filled it.
Is it like all PF balance in company A gone to company B?
3. Do I have to contact company B for withdrawal of company A PF balance?

hi concern,
You need to contact B Only

I worked in A company 1 years and joined company B where they maintain PF in trust(Company B). I would like to withdraw my PF balance in company A for personal reasons.
How can I withdraw?