From the eSignatures section of the left navigation bar, select the documents tab.
Note the status column and look for documents with the 'Signed' status. Click the document you wish to download.
Once you have selected the document, you are able to download the standalone signature document by clicking the green 'Document only' circle. This is saved as PDF to your computer.
Alternatively, you may print the document by clicking on the ellipsis menu to the right of the document in question and selecting 'Document only.'