A public web page is no different. A reasonable person would not assume that content you can only get to by editing a URL manually is supposed to be accessible to the public. A typical person would not even know that you can do that. Those typical people are the ones that get to set the rules, not hackers.
Websites are not only meant to be accessed by humans either. Are you telling me that bots should employ human reason to guess what should be viewed or not?
I'm not even sure what you're proposing. The web has always been public space.
If a website puts a link to a resource that is not protected by authentication means, and hides it behind some other html element, or styles it with javascript to a white font on a white background, or does something else that is similarly difficult for a script to guess is not viewable by humans on some subset of browsers, is it now breaking the law because obviously the url was not viewable on any webpage?
How about if someone takes the url, and doesn't view it, but posts it on some other website with high traffic. Now all people that click the link have broken the law?
A reasonable person could totally use crawlers like DownThemAll, and fail to notice that some URLs they request are not, in fact, accessible by clicking through a web page. That's different from accessing something you know isn't accessible by mainstream means.
I did that several time to download some porn. The process is simple: search for whatever I'm interested in in a search engine, click on whatever image looks interesting, see if I the URL has numbers I can modify to access nearby images (they will have hopefully the same theme, or even depict the same scene).
The first URL was clearly publicly available. I got it legitimately through a search engine, or by clicking around. How am I supposed to guess that some of the others are off limits?
Here's a better analogy; you put up a "yard sale" sign in your front yard, fill the driveway with property, and then call the police on the first person who shows up claiming they are trespassing.