Yes. However, there are things you should be aware of before you switch this status. For more information , see the topic on Protection and Authentication.
To do so, go to Surveys & Data Collection | Survey Hub | <desired_survey> | Manage. On the Manage Survey page, click Change Authentication:
On the Authentication page, you can either change your unauthenticated survey into an authenticated one or vice-versa:
Note: It is possible to have an authenticated survey and yet still allow unauthenticated responses. For instance, you might want to send out email invitations for an authenticated survey, yet still allow unauthenticated responses from a URL you post to your web site. You can then filter on these different response types within Analysis & Reporting.