Hi there, do you want me to pick you up at the airport? I'm really looking forward to picking you up/collecting you from the airport. Do you need picking up from the airport? Do you wantneed me to meet you at the arrivals point? I can pick you up at the airport, if you want. Let me pick you up from the airport, I'd love to do it. Can I pick you up at the airport? If you want me to collect you from the airport let me know. I can collect you from the airport. Let me collect you from the airport, its no problem.

There isn't one specific phrase. Don't worry about it, say whatever seems natural and clear. Your friends will be glad to hear your offer, the words won't matter. Here are some other possibilities: "Do you need a ride from the airport?" "Would you like me to meet you at the airport?" "I can come and get you at the airport." "I have a car, would you like a lift from the airport?"