Firstly, you have to ensure that the openssh-server has been installed and running in the pod. If not, you can use kubectl exec -it <pod-name> -n <namespace> -- bash to access the pod.
If your pod are running Ubuntu, do apt-get install -y openssh-server.
Secondly, pods are running in a virtual IP subnet assigned by network service. They are accessible to any Master nodes and Worker nodes in the cluster. You can do ssh from any of the Host OS.