But is this skipping the step of authentication?
No. It will use the default application credentials. If you're running on Google Cloud Platform (AppEngine, GCE or GKE), they will just be the default service account credentials for the instance. Otherwise, you should set the GOOGLE_APPLICATION_CREDENTIALS
environment variable to refer to a service account credential file.
From the home page of the user guide you referred to:
When running on Google Cloud Platform, no action needs to be taken to authenticate.
Otherwise, the simplest way of authenticating your API calls is to download a service account JSON file then set the GOOGLE_APPLICATION_CREDENTIALS environment variable to refer to it. The credentials will automatically be used to authenticate. See the Getting Started With Authentication guide for more details.
It's somewhat more awkward to use non-default credentials; this recent issue gives an example.