This is generally not possible after cluster is created. I recommend using an initialization action to do this.
As you've noticed, pip is also not available by default. So you'll want to run easy_install pip followed by pip install command.
Finally, if your intention is to use this cluster in any automation, and/or you want hermeticness, I recommend creating a wheel that you store in GCS and download in init action. You'd then install your wheel. Wheels have added benefit of being faster than installing many packages from pip directly.
2019 Update
See this tutorial on how to configure Python environment on Dataproc:
https://cloud.google.com/dataproc/docs/tutorials/python-configuration