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Unable to understand what url to use for accessing rest api for admin

Unable to understand what url to use for accessing rest api for admin

I am having confusing with using Magento Rest Api.

My problem is I have created A category rest api for Admin and Guest for listing categories. For Guest the url I hit is:-

http://localhost:81/magento/api/rest/categories

But I am unable to understand If I want to access this same api thorugh Admin then in this case what should I hit in the url.

Can anyone please help me to understand this.