Have you logged in to Graph Explorer? FYI Graph Explorer is also a registered application that will request the permission to access your data or act on your behalf. Before you login, you will just be using a demo bearer token.
That said, for you to get an access token to act on behalf of a user, you need their consent to do that and you need to register and App with Azure AD to help you request for the permissions related to whatever you want to do on behalf of the user and then get an access token when they grant the permission.
As long as a the data you need to access or action you need to perform is protected using Azure AD, you will need to register and app to access those. I suggest you read Application model to understand more. I also suggest that you read Permissions and consent in the Microsoft identity platform to understand what type of permissions your app will need to avoid copy pasting tokens because its bad practice. This will tell you if you need a signed in user or not.