Connect a printer either locally or remote

I have just connected my Epson Photo 830 to my home network via a Safecom SBRU-10100 router which has USB print server connector. I can now print from my laptop via my wireless router (a BT Voyager) but have lost the ability to sometimes plug the Epson directly into the laptop and print not using the network. Is the answer to “add another printer” via “Fax and Printers” ?
I would go ahead and try this, but it has taken me quite a long time to get the network arrangement working properly and am a bit frightened to muck it up. The laptop is using XP Home. I would be glad of any advice.