Edit ExecStart
in /etc/systemd/system/multi-user.target.wants/docker.service
ExecStart=/usr/bin/dockerd -H tcp://127.0.0.1:4243 -H unix:///var/run/docker.sock
Forward daemon port over SSH
ssh -L 4243:localhost:4243 <docker-server>
Set DOCKER_HOST
on local computer
export DOCKER_HOST=localhost:4243