Are you asking how to log to a logserver in general?

Daemons log their own connections. You just need to make sure they are well configured, and that they are logging to syslog. As long as your system logger is sending to the logserver, there will be an auditable log on the server of all the connections.

Otherwise you need to find some general purpose connection logger, you may try something like grsec which can log all sorts of things (but beware it can log a lot) or some program (can't think of one off the top of my head that doesn't also record packets...)