If a tooth is in such bad shape that it needs to be pulled, then you bet you can (and you should) get it removed while pregnant.
Any and all necessary dental work is perfectly safe during pregnancy1 and should be done. Dental x-rays and local anesthesia for dental work are also safe. The local anesthesia varieties—with or without epinephrine—are both fine.
Remember, take care of your teeth while pregnant; brush and floss regularly, see your dentist for routine cleanings, and get any recommended treatments without delay.