Since your Angular application is living in the browser, your REST API will need to be publicly accessible from any random visitor's browser. You thereby have a public API, out of necessity. You can't restrict it; either visitors can see the data or they can't.
Essentially this is not significantly different from a traditional webpage though. In a server-side generated page, you output your data packaged as HTML and deliver it to anyone who asks. In a REST-API/Angular app, you deliver the data packaged as JSON to anyone who asks. Either way the data is equally public, though maybe the REST API is a little easier to "abuse" than scraping the HTML would be. It may be useful to deliberate employing some user behaviour tracking and throttling, if you want to avoid someone outright sucking all of your database dry; this applies equally to JSON based REST APIs as it does to regular web pages.
If you're also exposing read/write APIs this way, you're of course wide open to abuse.
The only way to make an API non-public is to require password authentication. If the users of your site must be logged in, then you can restrict the API to anyone with a valid session. This doesn't help much in the grant scheme of things if anyone can simply register an account on your site, but it needs more deliberation and provides slightly more manageability than a completely open API.
Admin-only APIs of course must be protected in this way, requiring an account which only you have the credentials to.
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