Example from here:
import java.net.*;
import java.io.*;
public class URLConnectionReader {
  public static void main(String[] args) throws Exception {
    URL yahoo = new URL("http://www.yahoo.com/");
    URLConnection yc = yahoo.openConnection();
    BufferedReader in = new BufferedReader(
                            new InputStreamReader(
                            yc.getInputStream()));
    String inputLine;
    while ((inputLine = in.readLine()) != null) 
        System.out.println(inputLine);
    in.close();
  }
}
From your perspective, servlet is just an URL on some server. As for not waiting for a response - read about Java threads. But you cannot close the HTTP connection without waiting for a servlet to finish as this might cause a servlet to fail. Simply wait for the response in a separate thread and discard it if it doesn't matter.