If this describes use of Screen Sharing, Stefan Klieme's aims to make such connections easier by providing a menu-bar menu that lists any computers on your local network with Screen Sharing (or Remote Management--aka, Apple Remote Desktop) enabled. Choose a computer from the menu and the Screen Sharing application launches and initiates a screen-sharing connection to the chosen computer.
(Just as if you'd connected normally, the connection will be made immediately if you've previously saved the required username and password to the keychain; otherwise you'll be prompted to provide this info.)
Thanks to , ScreenSharingMenulet's menu updates in real time, showing new Screen-Sharing-compatible computers as soon as they appear on the network.
The menu also provides a submenu that includes any computers to which you've recently connected. And if you've , the menu displays any non-local hosts you've previously connected to, as well.
One feature that would make ScreenSharingMenulet even more useful would be an option to enter an IP address to connect to a computer over the Internet. But for quick connections on your local network, this simple program is tough to beat.