501 5.0.0 HELO requires domain address

[Rookcr]

I have several servers that I am recieving bounce back messages from. They come back with the following message.

Relaying denied. Proper authentication required.

I am not relaying and I am not listed in spam. When I try to telnet to the servers on port 25 nd I do a HELO command it states I need the following:

501 5.0.0 HELO requires domain address

If I telnet on port 25 to the server and place HELO my domain name. I authenticate.

How do I add that to my settings in SBS 2003 Exchange.

Thanks