Tomar vs. Tomarse

Tomar vs. Tomarse
 

I'm having trouble understanding why tomar is sometimes reflexive and sometimes not.

It seems like tomar is not reflexive when you use it in the sense of physically taking or removing something. As in, Tomé el libro de la mesa.

Am I on the right track?

Sometimes the reflexive pronoun is used to give emphasis to the action.
comer = eat
comerse = gobble something up

tomar = drink
tomarse = drink something up