When Thanos and Iron Man finally came to blows in Avengers: Infinity War, the Mad Titan made it clear that he too was "burdened with knowledge" and well aware that the Armoured Avenger is actually Tony Stark. That was never elaborated on in the movie itself but on the Director's Commentary for the movie, Joe and Anthony Russo finally explained how the villain is so familiar with the hero.
"[He's] aware of Stark from the original Battle of New York as the person who undid the plan," Joe confirmed, making it clear that Thanos realises who sent that nuclear bomb his way back in 2012.
Does this mean Thanos has been keeping tabs on Earth or did he get the information from Loki? That's not clear but Joe went on to explain that Iron Man now knows he's no match for the Mad Titan. "The journey that Tony's been on as a genius scientist is that the evolution of his armor. This is the best it's ever gonna get for Tony and it's nanotech. He goes to the cutting edge of what his mind can deliver, and it still is not enough to beat Thanos. In fact, it barely keeps him in the fight."
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