rm is the remote printer. It needs either a hostname that your box can resolve to an IP address or just an IP address.
If you run
dig PS-8B4C0D.home.yak do you get the IP address 192.168.1.2 as answer?
Most Unix programs produce postscript output. Unfortunately most printers don't understand postscript. In those cases you need a filter that converts the Postscript file to a file with the native printer commands. Then the file with the native printer codes will be sent to the (remote) printer.
But if the (remote_ printer understands Postscript, you don't have to deal with any filters at all. Just a correct entry for
rm will do.
Did you see
http://netbsd.org/docs/guide/en/netbsd.html#chap-print ?