The OP and all the people talking about certificates are making the same assumption. Namely that the scanning company discovered the DNS name for the server and tried to connect. When, if fact, they simply iterate through IP address blocks and make get requests to any listening web servers they find.
> Web sites prove their identity via certificates. Firefox does not trust this site because it uses a certificate that is not valid for 138.68.161.203. The certificate is only valid for the following names: exhaust.lewiscollard.com, www.exhaust.lewiscollard.com
That said, while I think it's not the case here, using Cloudflare doesn't mean the underlying host is accessible, as even on the free tier you can use Cloudflare Tunnels, which I often do.
No, you make HTTP requests to an IP, not a domain. You convert the domain name to an IP in an earlier step (via a DNS query). You can connect to servers using their raw IPs and open ports all day if you like, which is what's happening here. Yes servers will (likely) reject the requests by looking at the host header, but they will still receive the request.