When a story is told from a single character's point of view, this type of narrative is known as third-person-limited narration (see Terms Used by Narratology and Film Theory by Dino Franco Felluga, Pudue University). This type of narration can be contrasted with other third-person narratives, such as the omniscient third-person narration and the objective third-person narration. (Some sources use the term "subjective third-person narration" as an alternative to "third-person-limited narration.)
See also Third-Person Limited: Analyzing Fiction's Most Flexible Point of View by Peter Mountford.