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Of course you can. Google My Business is free and open to any business to set up at any time.
That said completing all the listing and business profile requirements, verifying listings and optimally presenting the necessary information is not a job for the faint-hearted. It's tedious and non-intuitive, there are traps for the inexperienced that will present obstacles and frustrations. There are also some unwritten refinements that can only be made with skill and experience. A professional setup will get you started with the best possible listings in the shortest amount of time. This leads to more customers faster.
Having Google My Business set up for you is a wise investment. The cost of professional services is reasonable, and the outcomes will easily return the initial value very quickly.
Whether you are a brand new startup just launching a website or a long established business with an established web presence, optimising your business in Google My Business is a smart move and having it done for you will produce results faster.