Just for debugging purposes, you can forward a port from your machine to one in the pod:
kubectl port-forward POD_NAME HOST_PORT:POD_PORT
If you have to access it from anywhere, you should use services, but you got to have a deployment created
Create deployment
kubectl create -f https://raw.githubusercontent.com/kubernetes/website/master/content/en/examples/service/networking/run-my-nginx.yaml
Expose the deployment with a NodePort service
kubectl expose deployment deployment/my-nginx --type=NodePort --name=nginx-service
Then list the services and get the port of the service
kubectl get services | grep nginx-service