Reading a MUX

Can an arduino read a specific pin on a multiplexer ?For an example can an arduino read a specific Mux pin and tell a servo to move to a specific position if there are multiple inputs connected to a multiplexer at once?

That is what multiplexers are for. Many pins to one pin or one pin to many pins. We need to know which multiplexer that you are talking about. As is, your question is too vague to be answerable.

Im using a Texas Instruments cd74hc4051e .

There are countless articles and examples on multiplexers and Arduino online. What have you tried, and what are you having problems with?