Yes there are some cli commands to restart various mgmt-plane services, I dont remember them all but they are available in the manual.
A quick and dirty way to do the same without cli is to click on "restart mgmtplane" in the device tab (I think its hidden there). You will miss some logs while the mgmtplane is "rebooting" but the dataplane (which is separate from the mgmtplane) will continue to process packets.
The dhcpd daemon can only be restarted from the root of the firewall. There is no command from the command line interface that can be used to directly restart the dhcpd daemon.
As a workaround, management server process can be restarted. The command is :
> debug software restart management-server
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