how can i view my videos on my pc from my iphone via icloud?

You can import them using your usb cable, as explained here: http://support.apple.com/kb/HT4083. To use iCloud you would have to add them to a shared stream and invite yourself as a subscriber (see http://help.apple.com/icloud/#/mmc0cd7e35), then set up iCloud on your computer and enable photo sharing (see https://www.apple.com/icloud/setup/pc.html). However, you will only be able to add videos that are 5 min. or less.