What i was missing is stream=True in request.get parameter which allows to iterate through the response content so my code looks like this:

import requests

class Logs():
    def __init__(self, url='https://192.168.0.1:6443/api/v1/',
                 cert='./client.crt',
                 key='./client.key'):
        self.url = url
        self.cert = cert
        self.key = key
        requests.packages.urllib3.disable_warnings()

    def get_pod_logs(self, namespace, pod_name):

        params = dict(
            follow="true",
            tailLines="100"
        )

        r = requests.get(self.url + "namespaces/" + namespace + "/pods/" + pod_name + "/log", params=params,
                         cert=(self.cert, self.key), verify=False, stream=True)

        for chunk in r.iter_content(chunk_size=256):
            if chunk:
                print(chunk)

logs = Logs()

logs.get_pod_logs(namespace="my-ns",pod_name="my-pod")

You're almost there. I think what you want is the following:

kubectl logs -f <your-pod-name> --tail=100

You can get pod names with the following command:

kubectl get pods

Hope that helps