The answer to your question is: "Yes".
Oh, you want to know how to do it as well. The key is to join the tables together and then aggregate at the company level. I am going to assume that you really want the output as two columns (company name, services), rather than one string with them concatenated together.
The SQL is:
select c.name_company, group_concat(s.name_service separator ', ') as services from auxiliary a join companies c on a.id_company = c.id_company join services s on a.id_service = s.id_service group by c.id_company, c.name_company;