From my experience with v5.1.1

The mount point is defined once the drive is detected. So, you can just simply:

knoppix@Knoppix:~$ sudo mount /media/sda1

(Not sure what is the naming convention. When I use USB flash drive, it was named /media/sda. When I use external hard disk, it was named /media/sda1).

In addition, if the desktop icon is not automatically created and you need it, you can create it manually, like what we do on Windows.