There is a handy WildStar Game Launcher that will enable you to save servers and connect to them at your convenience. You can download it here. Extract it to somewhere easy to access and then point it at your Game Client (in the WildStar/Client or WildStar/Client64 folder). You can then launch to your chosen server and be ready to play!
You can also read the NexusForever Server Connection guide, and other parts of the Wiki for more information.