The TLS for swarm mode is for node to node communication internally to the swarm. You can’t use that to connect from a remote client.
The tutorial is written from the perspective of SSH-ing into the machine and running the commands locally there.
If you want to connect a remote client to the manager node, you would need to set that up the same way as you would before in Docker 1.11.
Jus to be sure I verified with engineering. If docker version is not working between the client and the remote manager, this is not a swarm mode-specific issue.