Actually you can do this, here is code that shows you how and much more.
In any Mouse Event from NotifyIcon, simply look at Control.MousePosition, this contains the (x,y) of the mouse. The same can be done to position a ContextMenu on a form/control exactly where the form/control was clicked using these (x,y) values.
A good example of both of these is here:
More Here: http://code.msdn.microsoft.com/TheNotifyIconExample
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