But English has similar ambiguities. For example, a "girlfriend" is usually not just a girl friend. Other expressions are used when there is no romantic relationship.
I don't know toki pona but there is probably another expression for actual good people. Maybe something like "person of high value".
The language is also geared towards expressing ideas in general much more than expressing your own feelings. In this way, a "good person" is someone you would consider a friend even if you've never met, which while not exactly a concept that's entirely sane on the internet, makes a lot of sense in a more thighs knit community (eg: a good person is a friend to the community and therefore a friend to me).
I have a direct answer: once you get good enough at toki pona to want to distinguish, you do some personal reflection about what a friend is to you and find more specific ways to say that, such as jan poka (accompanying person) or jan mi (my person). You can also specify whether jan li pona tawa mi (good to me) or li pona tawa kulupu (good to the broader community).
But English has similar ambiguities. For example, a "girlfriend" is usually not just a girl friend. Other expressions are used when there is no romantic relationship.
I don't know toki pona but there is probably another expression for actual good people. Maybe something like "person of high value".