Yes, there are options that you can select in the Form Builder that limits the users who can view the forms. This can be controlled by the form type, options include App and Portal (most popular) or Portal Only.
User Groups can also be selected as to which User group/s can 'start and view' a particular form template and also which User group/s can 'edit submitted form template'. This is selected in the details for the form template.
Web Portal > Forms > View Form Templates > Edit > Details page.