Getting specific version of file from S3 bucket

Yes you can do that see this example you will need the version ID for the object.

aws s3api get-object --bucket mybucket --key file1.txt --version-id Mj1.PcWG8e.C._7LhvFU131pXJ98abIl foo.txt

Also you can list the version for getting the version ID using this commands.

aws s3api list-object-versions --bucket mybucket

Yes, use aws s3api get-object and specify --version-id

More info here http://docs.aws.amazon.com/cli/latest/reference/s3api/get-object.html