Download the file from the server to your hdd
Edit the file on your pc (good to have a text editor like notepad++, you can google it)
Upload the file -
before uploading you could rename the file on the server, so if the edited file creates problem you can roll back to the working file by just renaming it to its original name, i.e. defaults.css > defaults_old.css; if newly uploaded file works fine, you can delete the old one.
It would be good to have the same structure of Zen Cart on your local pc.