When you publish a video on PeerTube, the upload screen includes a dropdown menu which lists many different types of visibilities.
If you would like to give specific people early or exclusive access to a video, choose the visibilities “unlisted” or “password protected”. You can then share the unlisted link or the link and password with whoever you want to give access to.
This is especially useful for giving your patrons early access, or for getting feedback on a video before you fully publish it. It can also be used for any other purpose where you want to restrict the audience of a video.