The default send settings ...send denoting relay settings on the SMTP virtual server are by default" only the list below", and "allow all users and computers that successfully authenticate to relay".
In essence, your POP/IMAP users are relay users when they send using SMTP and are expected to authenticate. When they do, mail will not be denied from them.
However, if your internal POP/IMAP users are not authenticating to send mail, they're mail will be denied i.e result in 5.7.1 NDR. Most importantly it poses a security issue because SMTP relay is then anonymous (open to any client).
If you would prefer to deviate from the default settings on the SMTP virtual server relay config, then you can choose specific user (security principals) that have the right to relay mail. This would be your internal POP/IMAP users in your case.