You can use the screen or tmux programs on the CentOS servers to do this.
For example - for screen -
After you login, you run screen (you may have to install it)
Then hit CTRL a and then CTRL | <-- that's a pipe
This will split the screen into 2
Then hit CTRL a and then CTRL tab to switch to the new section
Then hit CTRL a and then CTRL c to create a new session in the new section.
The end result should be sessions side by side
Reference -
http://www.pixelbeat.org/lkdb/screen.html (screen hotkeys)
Alternatively, on your Ubuntu desktop, you could get a terminal program that can do screen splits.
Terminator is one such terminal program, and you can split a screen by simply hitting CTRL+Shift+e