rcp should create subdirectories on the remote system, assuming privileges are correct.
Try remsh to execute the mkdir command remotely. (rexec is similar). remsh allows only one command, then breaks the connection. SO, to create the directory, then set privileges would require two lines -- two remsh commands.
This is actually a "trick" that allows SSH to not prompt for password for logging in a remote session, by trying public key authentication first. If public key authentication fails, password authentication will be tried as a last resort.
Use ssh-keygen to generate a key pair. The private key is kept in your local account. The output key will be left in a file like id_rsa.pub and you just paste the line to ~/.ssh/authorized_keys on whatever remote host you would like to log on without prompting for password.
Note that you need to ensure the .ssh directory is readable by the account owner only or public key authentication may not work.
You will find more information on how to use ssh-keygen by a search online.