System, device, and method of secure and location-aware garage door actuation for efficient delivery of packages. For example, a delivery vehicle or a courier carries or has a device able to determine its geographic location. Based on the geographic location, the device receives wirelessly, from a remote server or a cloud-based platform or from a nearby Home Automation System, an incoming wireless message indicating to the device how to construct and transmit an outgoing wireless message that would cause actuation of the particular garage door of a particular venue at which the device is located or for which a package delivery is required. Accordingly, a single device is dynamically configured on-the-fly, to selectively open a variety of garage doors of various houses or venues.