is there a way to take my zbrush models and have them made into figurines to like put on my shelf?
Find out if there is a 3D-printer in your area, commercial or perhaps some technical school might have one.
Then decimate the model for optimized results and use the 3D print plugin to convert the model to suitable format and have the model printed for you.
Also search about 3d printing in the forums, there was some advice what you need to be aware of if you make a 3D print model. Subtools might cause problems unless you address them prior printing.
Also, there are some tutorials in ZClassroom. Click the following link.