Hi Peter,
Unfortunately, there is no setting to hide this for guest users in ES2.0.
Alternatively, you can try this method:
1. Disable the toolbar at Settings>General>General>Toolbar>Toolbar>No
2. Head to Joomla's Modules page then search and create a new EasySocial Toolbar module
3. Set this module's position to the position of the previous toolbar or any that you like.
4. Set the module's access to Registered so that only logged in users can see this toolbar module
Try it out and let us know how it goes.