In the source contrib directory are example scripts for init.d - it is simplest to run the server in background mode - the init scripts also contain a monitor to relaunch asterisk if it goes down.
Then you just need to use
sudo asterisk -vvvvvvvr
- to connect to the server that is already running in background mode.
Note you need to run this as root to gain privileges to connect.
If you installed via a distro - then the init.d scripts are usually supplied as standard.