Just a bit more than three thousand years ago, the Moon appeared in the sky over nasty barbaric Earth. This was, as you might imagine, quite a shocking thing for the peoples of earth; there was a new giant glowing object in their sky, the tides went nuts, dogs and cats living together -- mass hysteria.
During this time, the peoples of Earth evolved and matured, creating the roots of the great civilizations to come. Eventually it was Elysia that emerged as the dominant nation, and over the course of the next three millennia they subjugated the rest of the Earth (well, the ones that mattered, anyway) with a mix of force and diplomacy, founding the Golden Elysium Empire.
Right about the time everyone was starting to become complacent, they had their first visitors.
The only person left on the Moon who remembers what they left and why is Queen Selenity, and she's not talking. These three thousand years were important to them, too -- the people of the Silver Millennium used that time to refound their society on the planets of the Sol system, using their incomprehensibly vast magic and technological resources to make even the most barren, inhospitable landscapes habitable.
Approximately a hundred and fifty years ago, the Lunarians began to receive permission from their Queen to mingle with the natives. There have been no treaties signed, and a Terran who has visited any of the Moon Kingdoms is very rare, but there are some who say that combined might of the two Empires is necessary for a strong and everlasting peace. There are others who want to wipe the primitives off the beautiful green land they orbit, and others who want the heretics blasted out of the sky.
Ahh, sweet politics.