I'm writing a Socket Server in Python, and also a Socket Client to connect to the Server.
The Client interacts with the Server in a way that the Client sends information when an action is invoked, and the Server processes the information.
The problem I'm having, is that I am able to connect to my Server with Telnet, and probably other things that I haven't tried yet. I want to disable connection from these other Clients, and only allow connections from Python Clients. (Preferably my custom-made client, as it sends information to communicate)
Is there a way I could set up authentication on connection to differentiate Python Clients from others?
Currently there is no code, as this is a problem I want to be able to solve before getting my hands dirty.
@holdenweb has already given a good answer with basic info.  
If a (terminal) software sends the bytes that your application expects as a valid identification, your app will never know whether it talks to an original client or anything else.  
A possible way to test for valid clients could be, that your server sends an encrypted and authenticated question (should be different at each test!), e.g. something like "what is 18:37:12 (current date and time) plus 2 (random) hours?"
Encryption/Authentication would be another issue then.
If you keep this algorithm secret, only your clients can answer it and validate themselves successfully. It can be hacked/reverse engineered, but it is safe against basic attackers.
Only allow connections from custom clients