Absolutely! Bring a pot of water to a boil, remove it from the heat, then drop in the cooked pasta. Let it stand for 1 to 2 minutes, which warms it through, then drain as usual.
Not only is this good for leftover pasta, it is also a great do-ahead trick for entertaining. This is the method many restaurants use to ensure each guest gets a plate of piping hot pasta. If you are concerned about overcooking, feel free to slightly undercook it when you make it ahead of time, which gives you a little room when re-heating.