By now i figured out, that you need to start a new tiller in the specific namespace you are trying to access.
First start a tiller in your desired namespace:
export TILLER_NAMESPACE=<yournamespace>
tiller listen localhost:44134 -alsologtostderr
In another terminal on the same machine you can now connect to the tiller using helm.
export TILLER_NAMESPACE=<yournamespace>
export HELM_TLS_ENABLE=false
helm ls