I'm wondering how do they prevent non-NASA entities from sending commands to the rover - are they using some sort of cryptographic signatures when sending the commands?
You need access to the big Deep-Space Network of radio dishes.
2. Set up an 80-meter dish in your back yard, with a team of NASA RF experts.
With step (2), the authorities will zero in on you in a second, so the emphasis is definitely on the cyber security of the ground infrastructure and not on SSL-over-space-link-communication.