Currently, the spec prohibits any form of authentication other than Authorization and form body:
Micropub requests MUST be authenticated by including a Bearer Token in either the HTTP header or a form-encoded body parameter as described in the OAuth Bearer Token RFC
(side note: "the HTTP header" — missing "Authorization"?)
So using Micropub with cookie authentication (i.e. when you're logged into your own site and you use some JavaScript on the page — like micro-panel — to send Micropub requests) technically violates the current spec.