The catalog pg_authid contains information about database authorization identifiers (roles). A role subsumes the concepts of "users" and "groups". A user is essentially just a role with the rolcanlogin flag set. Any role (with or without rolcanlogin) can have other roles as members; see pg_auth_members.
Since this catalog contains passwords, it must not be publicly readable. pg_roles is a publicly readable view on pg_authid that blanks out the password field.