DTLS can be used to secure CoAP unicast messages, however, CoAP multicast messages are not protected by the existence DTLS protocol. Because efficient key distribution problem has not been solved yet. This means the header of multicast messages might be exposed to the sniffer tool, including the URI path.
Nowadays, there is a protocol called OSCoAP might help with this. It is still in implementation.
This is the latest draft IDTF document of OSCoAP: https://datatracker.ietf.org/doc/html/draft-ietf-core-object-security-02
However, there are doubts about it. It mentions the OSCoAP will encrypt the URI path in section 4. Then key distribution still might be a problem in multicast. But it didn't mention any difficulties there. But someone who has interests in the security of CoAP messages can have a look at OSCoAP.