I would declare a new arrow tip based on the old one but setting \pgfarrowsleftextend to 0pt.
The syntax for defining arrow tips is explained in section 74 "Arrow Tips" of the PGF manual.

\documentclass{article}
\usepackage{tikz,amssymb}
\usetikzlibrary{arrows}
\makeatletter
\pgfarrowsdeclare{[*}{]*}
{
\pgfarrowsleftextend{0pt}
\pgfarrowsrightextend{0pt}
}
{
\pgfutil@tempdima=2pt%
\advance\pgfutil@tempdima by1.5\pgflinewidth%
\pgfutil@tempdimb=\pgfutil@tempdima%
\advance\pgfutil@tempdimb by\pgflinewidth%
\pgfsetdash{}{+0pt}
\pgfsetmiterjoin
\pgfsetbuttcap
\pgfpathmoveto{\pgfqpoint{-.5\pgfutil@tempdimb}{-1\pgfutil@tempdima}}
\pgfpathlineto{\pgfqpoint{0pt}{-1\pgfutil@tempdima}}
\pgfpathlineto{\pgfqpoint{0pt}{\pgfutil@tempdima}}
\pgfpathlineto{\pgfqpoint{-.5\pgfutil@tempdimb}{\pgfutil@tempdima}}
\pgfusepathqstroke
}
\pgfarrowsdeclarereversed{]*}{[*}{[*}{]*}
\makeatother
\begin{document}
\begin{tikzpicture}
\draw (-3,0) -- (3,0) node[anchor=south] {$\mathbb{R}$};
\foreach \x in {-1,0,1} \draw (\x,2pt) -- (\x, -2pt) node[anchor=north] {$\x$};
\draw[thick,blue,[*-[*] (-1,0) -- (1,0);
\end{tikzpicture}
\end{document}
For use in a plot (either using PGFPlots or the \draw plot command), you might want a plot mark instead of an arrow tip:

\documentclass{standalone}
\usepackage{pgfplots}
\makeatletter
\pgfdeclareplotmark{]}
{%
\pgfpathmoveto{\pgfqpoint{-0.65\pgfplotmarksize}{\pgfplotmarksize}}
\pgfpathlineto{\pgfqpoint{0pt}{\pgfplotmarksize}}
\pgfpathlineto{\pgfqpoint{0pt}{-\pgfplotmarksize}}
\pgfpathlineto{\pgfqpoint{-0.65\pgfplotmarksize}{-\pgfplotmarksize}}
\pgfusepathqstroke
}
\pgfdeclareplotmark{[}
{%
\pgfpathmoveto{\pgfqpoint{0.65\pgfplotmarksize}{\pgfplotmarksize}}
\pgfpathlineto{\pgfqpoint{0pt}{\pgfplotmarksize}}
\pgfpathlineto{\pgfqpoint{0pt}{-\pgfplotmarksize}}
\pgfpathlineto{\pgfqpoint{0.65\pgfplotmarksize}{-\pgfplotmarksize}}
\pgfusepathqstroke
}
\makeatother
\begin{document}
\begin{tikzpicture}
\begin{axis}[
yshift=4cm,
y = 1cm,
xmin = -2, xmax = 2,
ymin = -1, ymax = 1,
hide y axis,
axis x line* = middle,
disabledatascaling
]
\addplot [thick, blue, mark={[}, mark size=1mm] coordinates {(-1,0) (1,0)};
\end{axis}
\end{tikzpicture}
\end{document}