yes, as the javadoc says, if the "requestRequiresAuthentication" returns false, the request is considered to be free of any further DEFAULT authentication (including calls to isRequestAuthorized).
Since the calls are done from restlet, you can throw a ResourceException(…) with a status-code and a description. The rest-error handling that is in place will render a nice response-JSON with the message in it (see ActivitiStatusService) and the HTTP-response code will be the one you provide in the ResourceException. In your case, that will be a UNAUTHORIZED or REQUIRES_AUTHENTICATION, depending on what your SSO logic found out about the request…