Given the constraints, running Dokku commands remotely via SSH is fine. For certain configurations, the extra complication of manually invoking ssh can be a burden.
Dokku-toolbelt is a node-based cli wrapper that proxies requests to the Dokku command running on remote hosts. You can install it via the following shell command (assuming you have nodejs and npm installed):
Dokku CLI is a rubygem that acts as a client for your Dokku installation. You can install it via the following shell command (assuming you have ruby and rubygems installed):
Dockland is a rubygem that acts as a client for your Dokku installation. You can install it via the following shell command (assuming you have ruby and rubygems installed):