Basically, you should never ever find yourself typing sudo pip. If you refuse to use a virtualenv for some reason, use pip --user.
The other benefit of this approach is that your system package manager will keep your system packages up to date and the required versions for any software on your system.
Honestly, I think the best solution in the long term would be for pip, by default, to install to a user environment (installing in ~/.local using the --user flag) if it is run unprivileged and not in a virtualenv.