if your on pc if you dont have anything selected by default you can pick something back up with left click, you can also press "T" and 3 then select something to more precisely move something and in 3 dimensions dunno what the buttons would be for console or mobile, but pick up is the third option when you hover something without having recycling mode on or have an object already selected to be placed etc and the extra move modes should be the right most option on the hotbar