pkcs11-helper allows using multiple PKCS#11 providers simultaneously, enumerating avaiable token certificates, or selecting a certificate directly by serialized id, handling card removal and card insert events, handling card re-insert to a different slot, supporting session expiration and much more.
pkcs11-helper is not designed to manage card content, since object attributes are usually vendor specific, and the vast majority of applications need to access existing objects in order to perform signature and decryption operations.