The cloud storage system does not have, and will never have, a direct user-facing interface. If it happens to be hosted on Amazon today, that could change behind the scenes.
That said, if you tap on a cloud video in the app, you should see a share icon. Tap this and you will find several options to get the video to a computer without first saving it to the iPhone. Examples are AirDrop, Email, Messages, etc.
If you are looking for the full app interface to view live stream and cloud videos on a PC, see this wishlist topic: View On PC/Browser (Windows / Mac / Chromebook) - #1915 by mark2870