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I think that the guide is specifically for unmanaged Kubernetes cluster that you’ve setup by yourself on a few droplets. That way you would know your master node IP address and you will be able to SSH to it.
With the managed Kubernetes you don’t have direct SSH access but you could use the kubectl command to interact with the API, so the guide would work in the same way but you would be executing those deployment yaml files from another node using the Kubernetes API.