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https://store.steampowered.com/account/managedevices
and
Steam Guard Security:
http://store.steampowered.com/twofactor/manage
You will find these under your Steam (top menu) > Settings > Account (tab) and Family (tab)
If there's none, it should display:
"No account has been authorized for Family Library Sharing yet."
"You do not have any other devices authorized by Steam Guard."
Else it will list them and give options to kick out, etc.
EDIT: Are you rather talking about third party Steam API login sessions?