is there a way to put the infopop links and the contact us and main page link into a custom footer?

Theoretically, yes. However, first we need to know which software you are asking about. Second, you need to check your license to see if such modifications are permitted (or contact Infopop for clarification). Third, with UBB.classic, you'd need to hack the template files in order to make the change. (I don't know about the other products.) Infopop might not support your UBB once you make the changes.

-jlb