It depends on how you connect.
Personally I prefer "ssh", "scp" and "sftp" for file sharing. (albeit I have seen some issues in bi-directionality there). Samba I haven't used in years so I don't dare explain that. 
It's easy enough from your filemanager (thunar) using "sftp" as protocol:
- In the menu "go -> open location" enter the wanted computer address (and user name optionally)
- You will be asked a password (unless the keys are in order for password-less login)
3.The machine will appear as a mountpoint in the side pane.
After which you can mount/unmount that like any other medium and access it locally.
