aws iot describe-endpoint::You must specify a region

I am following this tutorial for connecting Raspberry Pi to AWS IoT using Node.js SDK and I have done all the other steps but I am lost in the authentication and certificate step:

pi@raspberrypi:~ $ aws iot describe-endpoint
You must specify a region. You can also configure your region by running "aws configure".
pi@raspberrypi:~ $ aws configure
AWS Access Key ID [None]: 
AWS Secret Access Key [None]: 
Default region name [None]: 
Default output format [None]: 
pi@raspberrypi:~ $ ls
2016-02-24-204612_1920x1080_scrot.png  Desktop     get-pip.py           node_modules  python_games             sources    WiringPi
aws                                    device.cfg  ibm                  Pictures      python-iot-raspberry-pi  Templates
aws-iot-device-sdk-js                  Documents   iot_1.0-1_armhf.deb  projects      root                     Videos
certs                                  Downloads   Music                Public        root.pem                 wiringPi

pi@raspberrypi:~ $ cd certs/
pi@raspberrypi:~/certs $ ls
1cf77402f9-certificate.pem.crt  1cf77402f9-private.pem.key  1cf77402f9-public.pem.key

When I browse to https://A34SXNTM6AT7XH.iot.us-west-2.amazonaws.com/things/MyNewThing/shadow or https://A34SXNTM6AT7XH.iot.us-west-2.amazonaws.com I see Missing Authentication Token message:

I am not sure how to get the last step working so I could see stuff in the URLs when I browse to them. Can someone help me figure which steps I am missing or is missing from the tutorial?

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