John in NM
You have to withdraw funds from paypal into your bank account, but its easy to do - the third menu from the left is "withdraw" - first option is "transfer to bank account". I don't keep my bank account linked to paypal, so I have a $500 per month limit on transfers. If your account is verified the limit on transfers goes way up.

Your buyer can initiate payment - that's how I've always done it - or you can send them an invoice.