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There's a vSphere API end point on both ESXi and vCenter. Obviously, certain functionality will only be available w/vCenter. For your use case, you can talk directly to ESXi host (vMA is merely an Appliance w/Perl SDK pre-installed. Its nothing more than that and its been deprecated (vSphere Management Assistant Deprecation - VMware vSphere Blog ) in favor of providing customers with choice of location to install and access their vSphere SDKs .
Take a look at the following blog posts to give you idea of how vSphere API works and recommend to setup a lab and trying them out to get a better understanding of how they work
Introduction to the vSphere API Part 1 - VMware vSphere Blog
Introduction to the vSphere API Part 2: Object Model - VMware vSphere Blog
Introduction to the vSphere API Part 3 - Inventory Hierarchy - VMware vSphere Blog