No, you cannot connect to a VM directly from the ESXi host server. If you have to connect from the server console, you will be much better off using VMware Server or VMware Workstation as your virtualization platform. From each of these, you can access your VMs from the host server console.
Ken Cline
Technical Director, Virtualization
Wells Landers
VMware Communities User Moderator
Ken Cline
VMware vExpert 2009
VMware Communities User Moderator
Blogging at: http://KensVirtualReality.wordpress.com/