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I can't really follow the first part of your question - but, if you configure iCloud on two devices, you will see/share those items (contacts, iMessages, email, etc).. So, no, you can't simply 'remotly view' stuff on one iPhone without actually having that same 'stuff' configured on the other iphone.
If you access the information via the iCloud website, the information is not shared on the computer you access it from. However, the iCloud website does not give you access to iMessages - only Contacts, Calendar, email and Find My iPhone.