The navy wants you to stay away from their ships and they don’t want anything to do with civilian boats.
The coast guard is the police and search and rescue. They wait for calls and also go on regular patrols, looking for suspicious boats and ships/people in distress and even simple safety inspections (enough life vests, drunk boating, etc). They do thorough inspections of passenger and cargo ships.
They also “security” on the water in ports, especially mixed civilian/navy ports. They maintain navigational aids (bouys, foghorns, etc)
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