I want to be able to use Terminal on my OS X machine to connect to my Zero directly over USB. How can I do this?
Follow this guide. The only things you need are a pi zero, standard usb cable, and a mac/pc. I tested the quick way on both my mac and a windows pc. On a mac i use the OSX terminal to ssh into the pi zero, and i can enable internet sharing for the zero (done in the mac settings). On the windows pc i had to install bonjour. Works great!