Is there a way to access the ESXi console through vSphere?

When I login to my XenServer, I select the Xen Server and there is a "Console" tab that is available if we need to access the hypervisor's shell.

I was wondering if theres any equivalent to that in vSphere? I find it annoying to go into the server room everytime I need to access the shell, and I also find having to open up firewalls a bit of a pain just for SSH.

Is there any way to enable a console so that I can login to the HV with the vSphere console and access the shell through there?