there are several ways, this is most direct in my opinion
In your Admin panel under System > Localization > Language Definitions
type in your desire phrase or a partial of it in the Translation box, enter. This will bring up all the locations where the phrase is used.
default_store_pickup_default_store_pickup is the one you want - BE SURE you select the one that has STOREFRONT on it,
As there are two one for storefront, one for admin. you can change your text there.
This is a technique for a lot of changes.
Lee