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An endpoint in a RESTful API is generally just a URL. The URL represents some kind of resource. If it was an order processing API, the resources would be things like customers, orders, etc.
You interact with these resources by making HTTP requests of various sorts; GET if you want to know the content of a resource, POST if you want to change something, and so on. Have a look at this for basic information on REST and web APIs.
You don’t need Django to interact with a RESTful API that someone else provides. All you really need is python’s urllib, and maybe the json module, if they’re sending the data in JSON. The REST API they provide is probably the main thing they want developers using, but if they have multiple APIs then it’s hard to say which one is right for you without understanding the application better.