Hi Andy,
A simple way would be to use https://www.ads-software.com/plugins/groups-blog-protect/ which locks out all visitors so you’d be forced to log in to see anything from the site.
If that’s not ideal for your case, then another way would be to use restrictions on post categories using Groups Restrict Categories (a premium extension) which would help with forgetting to set an access restriction on a particular post. But this approach would only make sense for posts (and other custom post types that relate to taxonomies like post categories) but it wouldn’t work for your pages in lack of categories for them.
So the third option would be to implement a guard in your templates. You could use the examples provided here to check whether the current visitor belongs to the “Registered” group, and if not, don’t render the page content.
That last option would be the safest because you wouldn’t have to remember setting manually.
Marking as resolved with that last solution, but feel free to ask if you have any questions.
Cheers