5C NFC TOTP

Hi, I am thinking of getting the 5C NFC and using it to set up TOTP. My understanding is that if you plug the Yubikey into any device that has Yubi Authenticator they can view all the codes and accounts I’ve setup.

Are you able to set a pin/password on the key so that if I was to lose the Yubikey no one can just plug the Yubikey into their phone and view my codes without having to enter a password/pin?