Using external tools, you can generate client and server certificates, and a certificate authority. After going through this setup stage, you can easily establish an SSL-enabled connection.

Server side:

from rpyc.utils.authenticators import SSLAuthenticator
from rpyc.utils.server import ThreadedServer

# ...

authenticator = SSLAuthenticator("myserver.key", "myserver.cert")
server = ThreadedServer(SlaveService, port = 12345, authenticator = authenticator)

Client side:

import rpyc

conn = rpyc.ssl_connect("hostname", port = 12345, keyfile="client.key",

For more info, see the documentation of ssl module.