The above applies to any command, that tells the AI to leave the squad and go away to do something. If I ever want the AI to pick that 1km-away-rifle, I should issue a "move" order, to have the AI to go into the vincinity of the rifle and only then I should issue "take" command.
The above doesn't apply to "target" menu, which is fine. I may want to attack a target 1km away, for example with an AT rocket or a tank's main gun.