"从公司退休"
Retire from the company.

如果说某人一年前从公司退休：He retired from the compay last year.
如果说某人目前已经退休了：He has retired from the company.
如果说某人是个退休工人： He is aretired worker.

退休后,领取退休金.
He started to draw a pension after his retirement.

以上仅供参考.