The King James Bible was authorized by the people, regardless of how much it may or may not have been authorized by the king.

Webster's 1828 Dictionary gives these definitions:

1. To give authority, warrant or legal power to; to give a right to act; to empower; as, to authorize commissioners to settle the boundary of the state.

3. To establish by authority, as by usage, or public opinion; as an authorized idiom of language.

4. To give authority, credit or reputation to; as to authorize a report, or opinion.

5. To justify; to support as right.