Pico would be sitting at the table sitting with the others, because Benjamin wanted to spend time with his friends: Neo BF and B3 BF.

He was just playing with his food while listening to Ben and the other two talking and laughing. He was clearly somewhat worried that they would be a 'bad' influence on Ben, although Pico often denied this.

"..." He sighed softly and continued to play with the food, bored.