how to restrict responses to a single server/domain ?

I'm trying to build something similar to a microservice using Django and can't figure out how to setup the authentication part. 

When I say 'microservice' I mean, we have a bunch of systems like - example.com  , test.com  , another.com and another.test.com (a subdomain). I'm going to build a REST API on test.com which needs to be consumed by another.com. How can I enforce this restriction? And if later, I wanted to allow example.com to use the API (or even allow general public access), how can I do this?

My instincts tell me that I'm missing something obvious, but I can't seem to figure out what to search for.

Puzzled,

Abraham V.

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