"Members of the public service" is different than "members of the public". This is still a closed beta. But now it seems you are allowed to have your friends along for the ride. I wonder if these friends and family persons are subject to any NDA.
Waymo One has been shut down for a while now due to COVID, but now that driverless rides are an option they're re-opening the service with 100% fully driverless rides. Once they get around to installing barriers between the driver and passenger seats they plan to go back to most rides having a safety driver, but with some smaller percentage of Waymo One rides continuing to be fully driverless.
According to the article: "take friends and family along on their rides and share their experience with the world"