This is based on the Inscribed Angle Theorem, which says that an inscribed angle measures half the angle of the arc that it subtends on the circle. The following proof is fairly simple.
Let $D$ be the center of the circle. Note that $\angle DAC=\angle DCA$ and that
$$
\angle DAC+\angle DCA+\angle ADC=\pi=\angle ADC+\angle CDE\tag{1}
$$
$\hspace{3.2cm}$
Subtracting $\angle ADC$ from both sides of $(1)$ and remembering that $\angle DAC=\angle DCA$, we have
$$
\angle CDE=2\angle DAC
$$
Similarly,
$$
\angle BDE=2 \angle DAB
$$
Taking a sum or difference, we get that
$$
\angle CDB=2\angle CAB
$$
$\square$
In your diagram, this means that $\angle ACB$ is half the arc from $A$ to $B$. The same is true of $\angle ADB$.
To subtend the same arc of a circle, the vertices of the angles must be on the same side of the chord between the ends of the arc. To prove the converse, we need to assume that the points considered be on the same side of the chord.
Suppose we have a point $C$ on a circle with a given $\angle ACB$. Suppose that $\angle ADB$ is the same angle, but $D$ is not on the circle.
$\hspace{3.2cm}$
Find the point $E$ at the intersection of $\overline{BD}$ and the circle. We know by the Inscribed Angle Theorem, that $\angle AEB=\angle ACB$. However, if $D$ is outside the circle, $\angle AEB\gt\angle ADB$, and if $D$ is inside the circle, $\angle AEB\lt\angle ADB$. Therefore, $D$ must be on the circle.
$\square$
Thus, if two points are on the same side of the chord, and the chord subtends the same angle at both, then they are on the same circle with that chord.