SEP client and Azure environment

Greetings - We are placing endpoints in the Azure environment and as I understand it, these clients will not be on our company's domain; they will be in a separate tennant. So I'm asking myself, how do I deploy the SEP client to these servers and have them talk to my SEPM in our domain? Is that how it is designed to work or do I need to deploy another SEPM in the Azure environment and manage them in that way?

I'm trying to keep the question simple so I may have left out important bits. If so just let me know.

Thanks!

Lawson...