Recovering images from PDF documents and exporting them to Apple icon graphics format (.icns) should be doable with basic Preview in OS X. Other than that, you would have to have to look for some other graphics conversion utility or software.
Convert Adobe Portable document format to Apple icon graphic format.
We found one software available in the database for this conversion.
Apple macOS / Mac OS X software - convert pdf to icns on OS X
A basic document and image viewer in Mac OS X
Convert from pdf file format
|Yes, Preview supports icns file conversion as a target file type.||Yes||No||No||No||No||Yes||No|
The table with program actions contains information about what each program is capable of doing with their files. This may be a good pointer for further searches for certain file conversions and help you find the converter you are looking for if our search result is insufficient for you. However, it is far from perfect and may sometimes show results which are not really usable because of the nature of the software handles the files. So a conversion that appears as possible, just because of matched actions, may in fact not be possible.