A pipe is an abstraction or conceptual layer that doesn't have anything to do with the USB hardware or architecture. A USB software implementation may or may not choose to define pipes.
A pipe is simply a single entity that represents the combination of two "real" entities: A Device Address and an EndPoint. A USB Pipe is conceptually similar to an IP Socket (which represents the combination of an IP Address and a Port). In the "real" IP world, sockets don't exist, just like pipes don't exist in the "real" USB world.