NodeJS Server-Server Secure Communication

I have two servers using NodeJS on the same domain. (server1.example.com and server2.example.com)

I'd like to send messages from one server to the other in a secure way.

Right now, I'm using sending my message by sending a HTTPS query such as https://example.com?secret=XXXXX&message=helloworld.

Is there a cleaner way to do this? If so, what would be the exact steps needed? Note: I have a SSL certifiate on the site. Both servers are on the same domain.

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