Connect A Container On Worker Node From Manager

I try to connect a container on worker node from my manager node via “docker exec” or etc.How can i do this?I search on web extremly but i cant found any solution.Any ideas?

this doesn’t work?

docker exec -it [container-id] bash

It doesn’t work
Error: No such container: kl3qxl98oi0g

Maybe you need docker-machine?