I suppose the average person can, but there has to be something special about you so you stand out from the rest, whether it's amazing reference letters or plenty of volunteer work in your area of interest, etc.
I'm looking at grad programs now and it's frightening! Most do look for an A- average, or a B+, at least. They look mostly at your last two years (so if you are applying in 4th year, theyll consider your 3rd and 2nd year marks). Just keep doing what you're doing and you'll be fine.
*Tip: get to know your profs. If there is a prof you like, talk to them, be friends with them, keep in contact over the years, especially if you'll have them for more than one course. It makes it much easier being able to find someone to write you a strong reference
. Also, do some volunteer work now, don't leave it for your last year of undergrad!