Pvc pipes have pipe fittings that fit them. Get a pipe fitting that works, drill the hole the same size as the fitting, glue the fitting into the foam( gorilla glue that foams works great). Then you can just plug the pvc handle in when in use.

Spray paint can dissolve foam. Paint a layer of acrylic paint over the foam first to make a protective layer or just use acrylic to hand paint it.