I don’t know if we can directly use points in the text, but you can combine grid.text and grid.points:
grid.points(x=rep(0.1,9),y=1:9/10,pch=1:10,default.units="npc")
grid.text(x=rep(0.2,9),y=1:9/10,label=letters[1:9],default.units="npc")
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