Of course you can connect manually but we prefer an entry in the DRS System Tools Menu that open the complete computer manager and connects to the remote machine that's selected in DRS.
Basically you need to execute something like:
mmc compmgmt.msc /computer:\\%MACHINE%
We use a 3rd party program called tqcrunas (handy for lots of stuff) in order to launch the new process with correct credentials that allow connections to client.
If you're new to DRS you'll notice that the small stuff missing in DRS easily is added via System Tools menu (like enumerating network printers, checking logged on user, locked/unlocked desktop, restart computer etc etc).