VMware has the infrastructure client and Hyper-V has an MMC plugin. I’m not sure what you mean by using a security tool to manage virtual machines.
It depends on what you want to secure?
the ESX env or the vm’s?
There is Catbird or Reflex technolgies, thirdbrigade is free for upto 100 guests (all these are security management type appliances)
for compliance i would say configuresoft, tripwire or solidcore – the two former have a free tool to discover your ESX’s security posture