[CentOS] Stopping a server not controled by service

Miredo is run as a server from the command line:

/usr/sbin/miredo

The man page says the signal SIGTERM stops the server.

How do I send SIGTERM to the server?  Or SIGHUP, as I want to make a 
change to the config file.


And once I get this as I want it, how do I run it at system boot?