How can I fix hollow PVC pipes to wooden boards (MDF) to make a table?

I have some PVC pipes (hollow) and Medium-density fibreboard (MDF) boards. I’d like to make a small table with these, using 4 PVC pipes as the "legs" of the table. But I am unsure how to fix the PVC pipes to the MDF boards elegantly (in a manner that none of the screws or attachments are easily visible on the PVC tube) and securely.

As I only know how to use a drill and saw, I’d prefer a simple solution.