My technique is to drain whatever it is through a seive, then balance the seive on the rim of the hot pan for a few minutes whilst finishing off/serving everything else.... always some residual water ends up in the bottom of the pan. Some pasta shapes, of course,will hold water more than others. The 'conchigle' type, for example.
I drain into colander then put colander on pan to finish draining while I am getting everything else sorted. I always steam broccoli now as I find it too 'wet' when boiled. Also you can steam veg over the boiling pasta!