First you'll need to connect to the machine(s) where you have left processes running. Use SSH.
You can kill a process by sending a signal to it. In your case, the right signal for the job is SIGHUP. This signal is sent automatically when a terminal disappears (etymologically, it was sent when the modem hung up).
If you want to close all the sessions on that machine, send SIGHUP to all the processes. You can do that with
kill -HUP -1
-1
means “all processes”. You can't kill other users' processes, so this will only kill your processes.
If you only want to kill some processes, you can run the following command to list all the processes running on your account:
ps -u $(id -u) -ww
Once you've decided which processes to kill, carefully copy the values from the PID
column. E.g. to kill PID 123 and 125:
kill -HUP 123 125
If a process doesn't react to SIGHUP, send SIGKILL. SIGHUP asks nicely, whereas SIGKILL doesn't give the process a chance.
kill -KILL 123 125