The trick is, to not care whether the AJAX processor is called from your own pages or elsewhere.
Every type of AJAX request should have adequate authentication and authorisation checks built into it, ensuring that even if someone can make one from somewhere else (Which they will be able to, easily), then they won't be able to achieve anything that they couldn't do with the standard interface anyway.
Ultimately if someone wants to write their own client app for your AJAX RPC layer, they can do so - look at Gmail etc, this has been done many times.
You should design the API / Protocol to ensure that things can't happen out of order or violate your application's business rules. But this is common sense anyway.
Mark