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}