Checking the manual for the Pioneer VSX-21TXH, you can have a 5.1, 6.1, 7.1 setup only. I have 3.1, but this is allowable and the side surrounds get mixed into the L and R.

I can connect a single rear speaker as a 6.1. It gets connected to the Left channel Rear surround jack. You have to have left/right side surrounds for this to work though.

What I was wanting to do is to see if there is any way I could put the 2 positive terminals and the 2 negative terminals together (left and right surround) coming out of the receiver and attach them to 1 speaker. I was thinking that there might be some sort of black box available that would allow me to do this.