The most secure way is using
ssh -L 10001:localhost:10000 youruserhere@server01
this will open an ssh connection to server01 using username yourusername.
after you logged in, your local port 10001 is forwared through the ssh connection to server01 (localhost on the other end...) port 10000.
now you can open your browser and type
https://localhost:10001
for server01 this will look like you connect from localhost to port 10000.