Rubinho, the DNN OEM agreement with Telerik requires you to access the Telerik controls via the DNN wrappers. If your module only targets DNN5.2+ (the first version that had the RAD controls bundled I believe), the simplest approach is to do just that, and you are guaranteed to have 2009.3.1103
or later of the RAD controls available.
However, there are disadvantages, as the DNN wrappers are not yet complete, and do not include design-time support, so you have to set your controls up in code-view.
On the other hand, if you have your own RAD Controls licence, you have other options. Firstly you can develop against your own licenced version, and exclude it from the module when packaging it. If your version is older than the one shipped with your target DNN installation, that should work OK, so long as Telerik have got their backwards-compatibility right. On the other hand, I wouldn't develop against a version newer than the one that ships with DNN, as you may use features not yet available to DNN.
The other option you have if your licence gives you access to the source code, is to ship a protected version of the RAD controls dll that only works with your application. Telerik will allow you to do that. The instructions on how to do this are here:
http://www.telerik.com/help/aspnet-ajax/protecting-telerik-asp.net-ajax-assembly.html
Hope that helps.