I believe the best way to do this is to implement the basic global permissions for your module. Check out these two links:Add Permissions to a Pluggable Module: Global PermissionAdd Permissions to a Pluggable Module: Control Panel
They will help you get your module and its admin section setup for managing its permissions.
Finally your module's WebModule class should implement Telerik.Security.Permissions.ISecuredModule. If your module's manager class inherits Telerik.Cms.Engine.ContentManager, I believe you can use the ContentManager's static SecurityRoots object in your ISecuredModule implementation. Not sure if that's the best way to go about it, but it worked for me. Hope that helps.