If you are working on your own project/script, you should use virtualenv for development and install all required libraries there.
If you need it because some system installed application or part of your system does not work without it then… you are in bad place - pip is python package manager primarily used for general python development (installing depending packages, and in theory also for packaging python projects) but it should never be used as system wide package manager - you will break stuff (especially when used with sudo).