When using the DSL to create Routes you typically refer to Message Endpoints by their URIs rather than directly using the Endpoint interface. Its then a responsibility of the CamelContext to create and activate the necessary Endpoint instances using the available Component implementations.
Using the Fluent Builders
Using the Spring XML Extensions
For more details see
Using This Pattern
If you would like to use this EIP Pattern then please read the Getting Started, you may also find the Architecture useful particularly the description of Endpoint and URIs. Then you could try out some of the Examples first before trying this pattern out.