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If you close an output tab, you can supposedly right click the process and choose "show output" to reopen the output tab. Unfortunately, this is always greyed out (disabled) when the project is using maven. (sounds like it works with ant?) We should be able to reopen a closed tab for a running process, no matter whether it is using maven or not.
It works fine for me in the current development version. I've found a problem in the reopened tab, that is cleared after writing to the output tab is finished. This is fixed in http://hg.netbeans.org/core-main/rev/a80686561e41 If you still encounter the reported bug in NetBeans 7.4 beta or in development builds, please reopen this issue. Thank you.