With RS facing, pick up the sts as you'd normally do (I use a crochet hook). Once on your ndl (straight or circ) just P them instead of K. The picked up st can be P or K...you decide...and it has nothing to do with where the seam is so long as you pick them up on the RS. (When sts are picked up for ribbing, you alternate K and P in whatever desired sequence. The picked up st is simply the loop on the ndl.) The first row of sts worked after pick up is the WS so you'd K them so that the P st is on the RS.
HTH, or am I missing something in your query?
Keeping to the knitting basics