I am 6-1 and 155 only and I cannot pick anyone up
So that makes you 2-3" taller than me.
And it makes you 3-4lbs heavier than I was last time I weighed myself about 2 years ago. (I'm probably a bit heavier at the moment, I was ill for a while last year and I've definitely got squishier.)
You're certainly not underweight by any stretch of the imagination, but from your description you're definitely understrong.
Barring any physical/medical reason not to, I'd recommend you get some strength training done.
Edit to add: you're also only 1 year older than me as well, so it's not like I'm expecting you to be like a 20 year old...