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\node[pos = 0.5pt, below] at (I) {$O$};

\documentclass
[
	border		= 2mm
	%papersize	= A4
]{standalone}

\usepackage{pgfplots}
\usepackage{tikz}
\usetikzlibrary{arrows}
\usepackage[english, ngerman]{babel}
\usepackage{tikz-3dplot}
\usepackage[active,tightpage]{preview}  %generates a tightly fitting border around the work
\PreviewEnvironment{tikzpicture}
\setlength\PreviewBorder{2mm}

\begin{document}

\tdplotsetmaincoords{60}{60}

\begin{tikzpicture}[scale=5,tdplot_main_coords]

%Coodinate Setup
\coordinate (I) at (0,0,0);
\coordinate (S) at (1,1,1.25);


%draw the main coordinate system axes
\draw[thick,->] (0,0,0) -- (1,0,0) node[anchor=north east]{$x$};
\draw[thick,->] (0,0,0) -- (0,1,0) node[anchor=north west]{$y$};
\draw[thick,->] (0,0,0) -- (0,0,1) node[anchor=south]{$z$};

\node[pos = 0.5pt, below] at (I) {$O$};
\draw[thick,color=red,->] (I) -- (S) node[color = black, pos = 0.5, below = 1pt] {$\vec{r}_b$};

%Roteted Coordinatesystem Setup
\tdplotsetrotatedcoords{0}{0}{0}
\tdplotsetrotatedcoordsorigin{(S)}

%Draw in Rotated System
\draw[thick,tdplot_rotated_coords,->] (0,0,0) -- (.5,0,0) node[anchor=north west]{$x$};
\draw[thick,tdplot_rotated_coords,->] (0,0,0) -- (0,.5,0) node[anchor=west]{$y$};
\draw[thick,tdplot_rotated_coords,->] (0,0,0) -- (0,0,.5) node[anchor=south]{$z$};

\filldraw [thin, fill=gray, fill opacity=0.1, draw=black] plot [tdplot_rotated_coords,smooth cycle] coordinates {(.75,0,0) (0,.75,0) (0,0,.75) (0,-.5,0)};
\draw [tdplot_rotated_coords] node [below = 5pt] at (0,0,0) {$S$};
\draw [tdplot_rotated_coords] node [below = 5pt] at (.75,0,0) {$K_1$};


\end{tikzpicture}


\end{document}