I may as well answer my own question with my findings.
On Debian,Ubuntu,CentOS systems there is a file named /etc/rc.local. If you use pythons' FileIO to edit that file, you can put a command that will be run at the end of all the multi-user boot levels. This facility is still present on systems that use upstart.
On BSD I have no idea. If you know how to make something go on startup please comment to improve this answer.
Archlinux and Fedora use systemd to start daemons - see the Arch wiki page for systemd. Basically you need to create a systemd service and symlink it. (Thanks Emil Ivanov)