Is there a way to connect a pipe to another element without deleting it?
You can reconnect a pipe by right clicking on the pipe and by selecting reconnect. That allows you to disconnect the pipe from one element and connect it to another element. If you click on the right side of the mid point line for the pipe the right side of it will detach, while clicking on the left side of the midpoint will detach the left side of the pipe. See the video below for an example.