URI Routing - only allow custom route?

I have some routing setup e.g. I use an `auth` controller for login/logout stuff etc. and I am routing the methods to nicer URLs to remove the `auth` wording, so `auth/logout` simply becomes `logout`.

However, you can still access `auth/logout` if you know the URL exists.

Is there a way to force the custom routes to be the only way to access that particular Controller and Method?