The CPUC says that limousine service must be pre-arranged, unlike taxi service. I didn't see a definition of "pre-arranged", but UberCab doesn't sound pre-arranged to me. You use it when you want transportation
now, not when you know that you have an upcoming need for transportation at some definite future time that you wish to ensure is covered.
Yes, you have to sign up for the service first and get the phone app, but I don't see that this makes a difference. What's pre-arranged there is the ability to use the service. When I turn on my TV, go to the "On Demand" section, pick a movie, and watch it, I doubt anyone would say I'm watching a pre-arranged movie, even though I had to previously subscribe to the cable service in order to do so. Seems to me that's essentially the same as what UberCab is doing.