If you want to create a draft order for your customer and send it via Zasilkovna, it's not a problem at all.
However, you have to type in all the necessary stuff while creating a draft order:
Choose a customer from the list or create a new one
If they weren't pre-filled, fill in: (even when you want to use pick-up point)
- Tel. number
Choose a shipping method. This video tutorial might help.
Choose the pick-up point
After you clicked on "Create order", click on "More actions" and "View order status page".
There you can just choose the pick-up point.
Now the order is ready to be imported to Zasilkovna.