When you enter a taxi, you are starting into a business transaction. You are paying, and he/she is driving. As soon as you enter, the taxi driver will be waiting to be told where you want to go. Start out by saying something like "good afternoon". Then state exactly where you are going: "I'm going to Penn Station" or give an address "I'm going to 1234 Lenox Ave.". That's all. You can also say "take" or "drive" (but not "carry" - that would be for your baggage), and it is always nice to use the magic word "please": "Please take me to 1234 Lenox Ave.".
It's more of a command than a request. You're not asking him to do you a favor. I would only say "can you take me..." if I thought there was a legitimate reason why he might not be able to take you.