I'm not sure, what do you mean by 'directly'?
First, you need to retrieve TreeNode, for example with DocumentHelper class (refer to this article for more details and examples).
When you have a TreeNode retrieved from DB it's got 2 properties:
// direct child nodes
var directChildren = treeNode.Children;
// all child nodes (from all sublevels)
var allChildren = treeNode.AllChildren;
But be careful with these methods. When you access this children collection a new request to the database will happen to retrieve this data.