Janus acts as a signally server only so far as providing signalling channels (REST, WebSockets, RabbitMQ) between your peer and the Janus plugins.
It would be possible to modify one of the plugins to allow you to pass SDP's between peers connected to Janus and then allow those peers to establish direct connections but (AFAIK) none of the plugins currently enable this.
Your other solution, as I mentioned initially, is to setup a signalling server and treat Janus as just another peer. From what I've seen, I believe most people (myself included) are heading down this path.