The daemon includes many configuration options, which you can pass as flags when starting Docker manually, or set in the daemon.json configuration file.
To start the Docker daemon manually with some configuration options:
$ dockerd -D --tls=true --tlscert=/var/docker/server.pem --tlskey=/var/docker/serverkey.pem -H tcp://192.168.59.3:2376
This command enables debugging (-D), enables TLS (-tls), specifies the server certificate and key (--tlscert and --tlskey), and specifies the network interface where the daemon listens for connections (-H).