Log onto the server console one last time and run Enable-PSRemoting - you could also configure this globally through a GPO, if you preferred.
Once that's done, you can get a remote shell anytime you like - it's very similar to something like SSH, although under the hood it works quite differently.
Enter-PSSession -computername Server-R2
[SERVER-R2] PS C:\>
Run whatever commands you like. You can import modules located on that server (like Import-Module ActiveDirectory) and use commands from those modules. When you're done, run:
And you'll return home, close the connection, and be finished.