The disclosure describes artificial reality (AR) systems and techniques that enable secure, privacy-preserving device attestation and mutual authentication of multiple devices used concurrently within a multi-device AR system. For example, an AR system comprises a security server configured to generate a pairing certificate that includes information identifying a plurality of devices to be operationally paired with each other. The AR system comprises a peripheral device configured to receive one or more inputs from a user of the AR system, wherein the peripheral device is configured to store the pairing certificate in a non-volatile memory (NVM) of the peripheral device for authenticating the peripheral device and a head-mounted display (HMD) for pairing. The AR system comprises the HMD configured to output artificial reality content, wherein the HMD is configured to store the pairing certificate in a NVM of the HMD for authenticating the HMD device and the peripheral device for pairing.