Unable to connect to the AirVantage

Hi all,
I am trying to connect my WP7104 module to the AirVantage cloud. I have registered my module in the cloud service.
I am trying to force a connection using the Agent Shell, with Legato running using Telnet
but it is showing following error:

sh-4.3$ telnet localhost 2000
telnet: Unable to connect to remote host: Connection refused

Also, http://www.legato.io/legato-docs/15_01/connecting_air_vantage.html#overviewAVIConnect suggest to set up automatic connections or make user applications to trigger connections.
please suggest me how to set an automatic connection.