szeiger.de » Blog Archive » Removing Libraries and HomeGroup icons from the Windows 7 desktop:
http://szeiger.de/blog/2009/08/11/removing-libraries-and-homegroup-icons-from-the-windows-7-desktop/
As for pinning Libraries to the Taskbar, you may simply create a shortcut to C:\windows\explorer.exe, change its icon and then Pin to Taskbar. Clicking the shortcut launches Explorer, defaulting to "Libraries" view.
Ramesh Srinivasan, Microsoft MVP [Windows Desktop Experience]