CORS does not protect endpoints against malicious clients, since you can always just make the same request outside of a browser. And it doesn't protect any site from making or receiving cross-site requests, since CORS can always be disabled on the server side.
CORS protect against the scenario where a malicious site tricks an unmodified browser to make a cross-site request to a legitimate site. If the user has an authentication cookie for the legitimate site, the cookies will be sent along with the request. So the malicious site can perform transactions in the legitimate site on behalf of the user, despite not having direct access to the authentication cookie.
CORS is further complicated because certain forms of cross-site requests have always been allowed by browsers, and therefore must remain enabled by default for backwards compatibility. GET requests to separate sites is allowed, since this has always been allowed e.g. to embed images from other domains. POST requests are allowed with the caveat that you can't inspect the result, because you have always been able to initiate a post to a different site from a html form.