The feature is called ControlMaster which does multiplexing over one existing channel. It causes ssh to do all of the key exchanges and logging in only once; thus, the later commands will go through much faster. You activate it using these three lines in your .ssh/config:
Host host.com
ControlMaster auto
ControlPath ~/.ssh/master-%C
# for openssh < 6.7 you need to use this one:
# ControlPath ~/.ssh/master-%r@%h-%p
ControlPersist 5m
You can adjust it to your needs; one alternative is that you could open one master connection that stays open during your other commands; then you would not need ControlPersist.
There are many possibilities with this feature to tweak, but make sure you store your ControlPath socket in a safe place, not readable by other users, otherwise it could be misused.
More info can be found in the ssh_config(5) manual page.