Yes, you can hide them from Viewers and only Editors and Owners will see the pages in Draft mode:
Login to your Guideline
Press the edit button or use the shortcut CMD + E
On the right site at each page, you`ll have the eye icon.
Press on it to activate the draft mode for this page
Close the edit mode and reload your Guideline
Note: This article applies to Guidelines only. Template and Publication pages work differently — users cannot hide or unhide those pages.
See here to learn more.
For information about Template or Publication page visibility, see: Creating Publications