Update action commands to use command syntax

I was previously using the non dashed version of the command in the options, but the proper way to handle commands is to use the `command` syntax within `command.js`. It basically just gives you the power to create nested, command-specific options.

The only change here that requires anything from the user is moving the server port to a `-p` flag on the `server` command. Instead of `voyager s 3000` you now run `voyager s -p 3000` since the port is optional.