How to connect to TCP tunnel?

I recently started a Minecraft server on my raspberry pi. To allow people who are not in my household to connect I used a zero trust tunnel. I found that I can’t connect to my TCP tunnel directly by typing my domain into Minecraft. I have to install a cloudflared client on the computer I want to connect to the server. Is there any way to set this up so I can connect directly to the domain without the cloudflared client?

Thank for reply.

you can only make use of cloudflare client when you want to connect