The NOPASSWD option makes it so that if you enter sudo as the default Pi account, or any other sudo-capable account with NOPASSWD enabled, you don't have to actually enter your password when running something via sudo. If no-one has access to your account, it is a matter of convenience.
However, should someone get a hold of your Pi and you are logged in, then they can run root commands however, and whenever they want. However, if you are logged out and the person gets your password, the NOPASSWD option doesn't do anything.
Essentially, the NOPASSWD only de-creases security if you manage to lose your Pi, whilst logged in to a sudo-capable account. If someone steals your Pi and manages to crack your password, they
A) Have your Pi (which stinks)
and
B) Have your password, so NOPASSWD isn't going to change what they do, just how fast they do it.
Personally, I just leave the option on. For me anyways, the Pi is just a testing platform that doesn't have anything of importance on it and is easy to fix any issues people cause. Thus, NOPASSWD is convenient. But it is all personal opinion.
/etc/sudoers
, usevisudo
. You can't usesudo nano /etc/sudoers
.