I followed the guide to getting Kubernetes running in Azure here:

http://kubernetes.io/docs/getting-started-guides/coreos/azure/

In order to create pods, etc., the guide has you ssh into the master node kube-00 in the cloud service and run kubectl commands there:

ssh -F ./output/kube_randomid_ssh_conf kube-00

Once in you can run the following:

kubectl get nodes
kubectl create -f ~/guestbook-example/

Is it possible to run these kubectl commands without logging to the master node, e.g., how can I set up kubectl to connect to the cluster hosted in Azure from my development machine instead of ssh'ing into the node this way?

I tried creating a context, user and cluster in the config but the values I tried using did not work.

Edit
For some more background the tutorial creates the azure cluster using a script using the Azure CLI. It ends up looking like this:

Resource Group: kube-randomid
    - Cloud Service: kube-randomid
      - VM: etcd-00
      - VM: etcd-01
      - VM: etcd-02
      - VM: kube-00
      - VM: kube-01
      - VM: kube-02

It creates a Virtual Network that all of these VM's live in. As far as I can tell all of the machines in the cloud service share a single virtual IP.