This is false. It is only legal in the rare event that a passenger requires curb-side access for accessibility/ADA reasons; any other use is still illegal. To quote SFMTA taxi training:

Only drop off in a separated bike lane if you have disabled or elderly customers who require direct access to the curb  You may only pick up in a separated bike lane if the dispatcher tells you that the customer is disabled and must be picked up at a location that is next to a separated bike lane.

Taxi drivers often intentionally misstate this regulation because it’s more annoying to follow the law and find a legal place to stop so they pretend they are allowed to use bike lanes for any reason.