Some devices are sensors, like temperature sensors. It's not that they're "read only", it's that... You can't override temperature. For that, you need other devices. Like a switch to a motor that operates refrigeration compressor. That would be an actuator. If you put the data from the sensor online, the worst case scenario is someone unauthorized gets your data. If you build interface to control an actuator online... You can read the article up top.
The problem is that all major cloud providers (AWS and Azure for sure, and I'm sure Google as well) have a large number of services targeting IoT devices, both to read and control. So default architectural decision is "We'll just plug these into AWS IoT, it's secure, reliable, highly available, and has all the features we need, all we have to do is to configure what we want and we're all set". Which in reality is not that secure just because of how IoT is designed. But AWS/Azure obviously push for these solutions because it gives them more revenue.