A pentester here. Those bad looking requests are mostly random fuzzing by bots and sometimes from benign vulnerability scanners like Censys. If you keep your applications up date and credentials strong, there shouldn’t be much to worry about. Of course, you should review the risks and possible vulns of every web application and other service well before putting them up in public. Search for general server hardening tips online if you’re unsure about your configuration hygiene.

An another question is, do you need to expose your services to the public. If they are purely private or for the small group of people, I would put them behind VPN. Wireguard is probably the easiest one to set up and so transparent you wouldn’t likely even notice it’s there while using it.

But if you really want need get rid of just those annoying requests, there’s really good tips already posted here.