PolygonPen shows how you can combine cylindrical objects when modeling in C4D.
Hard surface models that seamlessly have one cylindrical shape merge into another, complete with a nice bevel, isn’t that complicated to pull off. Have a look at this tutorial from PolygonPen who shows how you can merge multiple cylindrical shapes into one object. PolygonPen demonstrates by creating a model of a telescope.
The tutorial also shows how you can change the pivot to better match animation characteristics when rigging the telescope.