The default setting for Videos/Panopto is to auto-publish the Videos uploaded automatically.
But if for some privacy reason you wish to disable this, you can do as follows.
In the Videos/Panopto section, you can access the "Folder Settings" on the right corner as shown below.
Under Settings in the Folder Settings popup as shown below, scroll to the Availability section, change the Sessions become available to "Never"
Once done, all videos uploaded will show as follows, "Not available to viewers" (viewers in Videos/Panopto refers to all students in the Course) and you will need to click on the "Publish" button as shown below to Publish the videos