It depends a lot on what kind of authoritarian society it is. It's not a binary, and many are "soft authoritarian" meaning that citizens don't have any effective control over their government, but it doesn't actively try to suppress even minute dissent DPRK-style. In most of those countries, people don't actually worry that much about what they say because it doesn't matter at their level. It only matters if you're a public person saying things in a very public way.