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You can make an offer, sure. However, not all used firearms in shops were purchased by the dealer. Some are on consignment. With those, the owner tells the dealer how much he wants as a minimum. The dealer sometimes has room to deal, sometimes not.
In any case, when dealers buy or take a firearm in trade they base what they'll pay on the wholesale cost, not retail, and how fast they think they can sell whatever it is.
No harm in asking. Sometimes there can be something added, an accessory, etc, even if the price stays the same. Probably a waste of time to make a silly low ball offer.
The guys I deal with locally are pretty good, I usually wind up paying full retail (on new purchases) but they will throw in an extra mag and rings and bases... its now gotton to the point that I just say to them "be nice to me" and they really are. It really is just like buying a car. I don't have a lot of experiance buying used but on the few times I've done that they did what they could. I'm a big fan of getting them to know your face... then your name.... if you're in there all the time, they will always go the extra mile to make a sale!