Connecting to Remote Desktop

I want to start using RD on my xp pro machines at home and after looking at the guides on the internet I just want to clarify a few things that I couldn’t find answers to:
I have a home network behind a DSL/NAT router.
I assume that I give the xp pro machine a static IP address ie 192.168.0.4 and open port forwarding on port 3389 for tcp/udp.
Then when I want to connect from the internet, I type in the static IP of my router in the RD dialog box? What if I have more than one xp pro that I want to connect to at home? Do I have to enter the name of the machine somewhere?
I don’t want to use VPN as I saw mentioned on MS web site, just want to go thru the internet normally. Thanks-Jeff Kesler