Yes, you can set up 2 syncs with Command (eg. Command - Google Contacts & Command - iCloud). This will sync all your contacts from iCloud and Google Contacts to your Command account. Do know that the first or largest connection is free.
If you run just one connection, however small or large, there is no billing involved. Only as soon as a second connection is started will the user be asked to put in credit card information after a 14 day trial.
An iPhone can be setup to directly sync 2 way with Google Contacts too, so in essence you don’t necessarily need to sync another time with iCloud.