Earlier quoted context omitted.
The alternative is for the idea agent to send the Origin header on all requests. Then the server responds with 200 or 403.
The origin could still be falsified client-side.
The reply is always "yes, you can CSRF yourself, because it's not supposed to protect against that; it's supposed to protect you from other people". In exactly the same way, CORS is there to protect you from other people. You can always hack your own user-agent to disregard CORS, but the only person you can harm that way is yourself.