Hi,
P2S is used to connect to Azure Vnet from remote clients. You need a VPN gateway for this setup and you configure P2S by uploading certs and providing Address space for your client.
When you install the setup in your laptop and got connected, your laptop will get an IP address from the address space which you have provided in the configuration in VPN gateway.
If you want to connect to any VM within that VNET which has the VPN gateway with P2S configured, just open MSTSC and type in the private IP of your VM and your credentials. By this way you can connect from your laptop to Azure VM privately using Azure P2S.