What if you don't like where that icon was placed?
Luckily you can move items on the kicker with the "move" command of the context menu. Just click the icon you want to move with the right mouse button.
A menu will pop up and you can choose "Move". Now move the mouse and see how the icon follows while still staying on the panel.
When you're done, click the left mouse button and the icon will be set.
You may have also noticed the menu entry "Remove" in case you're tired of a certain launch button on your kicker.