Blender how to change your object pivot point

So let say you have a cylinder where the default pivot point is at the center, let say you want to change the center pivot point to the tip of the cylinder, below is how you do it

1. You notice when you left click, there is a red circle (3D cursor), so you set the 3D cursor to the area you like
2. select your object
3. On the bottom, click Object -> Transform -> Origin to 3D cursor

then you will notice now your object is rotate base on your 3D cursor point