Lets assume you created a Ubuntu VM on your local machine. It's IP address is 192.168.1.104.
You login into VM, and installed Kubernetes. Then you created a pod where nginx image running on it.
1- If you want to access this nginx pod inside your VM, you will create a ClusterIP bound to that pod for example:
$ kubectl expose deployment nginxapp --name=nginxclusterip --port=80 --target-port=8080
Then on your browser you can type ip address of nginxclusterip with port 80, like:
2- If you want to access this nginx pod from your host machine, you will need to expose your deployment with NodePort. For example:
$ kubectl expose deployment nginxapp --name=nginxnodeport --port=80 --target-port=8080 --type=NodePort
Now from your host machine you can access to nginx like:
In my dashboard they appear as:
Below is a diagram shows basic relationship.