Search around and you’ll find various information and explanations about it. https://blog.mozilla.org/security/2018/01/15/secure-contexts... is one, though https://w3ctag.github.io/design-principles/#secure-context has apparently been significantly watered down from what it was originally—see the initial proposal in https://github.com/w3ctag/design-principles/pull/75, and what was then merged in https://github.com/w3ctag/design-principles/pull/89.
In general¹, I presume that any API that uses "same origin" as bounding criteria, must be secure. Since there's no way to enforce this "same origin" in insecure contexts.
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¹ Aside from the idea that maybe just make all new APIs "secure only", just to discourage insecure contexts.