You used to be able to do that via your web browser following this URL format: "https://[servername].database.windows.net".

However, I haven't been able to do that in a long time since I upgraded to V12. At least I think that's when it broke but I'm not sure. All things aside, your better off either downloading Visual Studio Community Edition or download free SQL tools and connect via SSMS. It's free and it's less clunky than going through a browser. At least I think so...