A polyaxial bone anchoring system includes a receiving part having an accommodation space, a first anchoring element having a first head, a sleeve-like insert piece configured to be arranged around a portion of the first head and to be arranged in the accommodation space, a second anchoring element having a second head, and a pressure member configured to exert pressure onto the first head or the second head, wherein when one of the first anchoring element or the second anchoring element is connected to the receiving part, the connected anchoring element is pivotable relative to the receiving part and can be locked at an angle relative to the receiving part by exerting pressure with the pressure member onto the respective head of the connected anchoring element, and wherein the first bone anchoring element and the second bone anchoring element are configured to be interchangeably connectable to the receiving part.