- Implement a firewall on your instances.
- Implement port knocking for sshd.
- Move sshd to a non standard port to avoid the nmap/bot noise.
- Only log successful logins.
- Any combination of the above.
There are pros and cons to each item so you would have to decide which combination is the most appropriate and least friction for your organization. If leaving the port exposed consider enforcing key based authentication and disabling password authentication. For high risk accounts such as monitoring accounts that use passwordless unrestricted sudo, you can even restrict what networks the keys are valid from.