Update Azure Service While It Is Running

Lets assume that we are doing a project that needs to update endpoint configuration (for example: add a new internal/input endpoints) and even create new worker role when the service is running. According to https://msdn.microsoft.com/en-us/library/dd179341.aspx\#Subheading2 it seems we can’t change the service definition when the service is running. So what options are there to do [...]