The API can be accessed at the the IP of one of the masters with a port of 6443.
curl https://kube-master:6443/version would show us the version of the API
curl https://kube-master:6443/api/v1/pods would show us a list of pods.

API Root Paths

To talk to the API via curl we must send our auth certs but another option is to use and authenticate with kubectl proxy, we can then curl http://localhost:8001 -k and we will be talking through the proxy and will be authenticated.

NOTE: kube proxy != kubectl proxy