if I understood correctly, you are asking about ESXi host direct Console (DCUI). correct me if am wrong.
you cannot access ESXi DCUI from remotely. Remotely you can access physical servers management console like DRAC or ILO and then access ESXi console.
You can enable SSH on ESXi host to access esxi shell and manage ESXi using commands.
That worked I was able to see the console. Thanks