True pipe is it’s own system separate from all other tubes. All pipe is tubing but not all tubing is pipe.
Piping systems rely on a standardized system of sizing stemming from threaded connections. That way they can increase wall size thickness and schedule without the need for new dies and fittings.
For standard schedule 40 pipe, the size is APPROXIMATELY the nominal ID. But in pipe the dimension that matters is the OD, due to the need for interchangeable fittings.
Tubing is simply measured by the OD, ID and/ or wall thickness. 2 are specified when ordering.
If we were to start from scratch today, we probably wouldn’t have pipe as we know it now. Everything would be true tubing due to ease of manufacturing and modern tech. But the pipe system we have is a holdover from back in ye olde days and the sizes have slowly morphed into what they are today. Kind of like how a 2 x 4 isn’t 2 anythings by 4 anythings.