Relays can be authenticated. If you don't want your relay to accept data from anyone, don't leave it open. Same with any other Internet protocol.
Also, per the spec or convention, relays SHALL NOT talk to each other. Each relay is a separate island, but the protocol permits and recommends clients to publish on multiple relays. This is the basis of their censorship-resistance.
See also my other comment: https://news.ycombinator.com/item?id=34530876