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Adobe Digital Editions is normally used to load books with DRM from libraries and bookstores, and your Adobe ID is used to tie the book to your account. Since the Kobo sees that the PDF is encrypted, it's assuming that you bought the PDF from a store and need to authenticate with the Adobe server in order to decrypt it. It will not ask you for a password, because the Kobo only expects encrypted files if you bought them somewhere else, not because you decided to encrypt your own document.
If you want to read the PDF on your Kobo, you need to decrypt it on your PC and copy the unprotected PDF to your Kobo.
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