As far as I know they connected directly to the modem, but I may be wrong about that too.
As far as I know the industry standard for ISP technician tools is to utilize SNMP for basic remote control of the modems, furthermore from what I've read all cable modems support this (including privately owned ones). After all, what good would owning your own modem be if it didn't allow the ISP to keep you well connected to the internet.
Even more so a private modem doesn't ship with every ISP's configuration data, they essentially network boot (there is a specific name for it but I don't feel like finding it) from a server ran by the ISP (this is why following your ISPs compatibility list is so important, if their server doesn't have a configuration for your model of modem it will never work).
I assume properly/well set up ISPs have the proper SNMP security measures in place in their modem config files, I also believe most ISPs firewall SNMP at all peer links so you couldn't receive SNMP attacks from outside a good ISP.
@anotherengineer all the "default" passwords I have seen on recent cable ISP gateways (the modem, landline, router, wifi, LAN switch) have all been randomized and written on a sticker, so it isn't internet exploitable without inside knowledge. Yes, this means you can walk up and flip it over and know the password but, let's be honest, physical access is enough for most skilled attackers to defeat any consumer security anyway.
TLDR: Simple, non-combo, cable modems should be pretty safe, but it is (and has to be) ultimately your ISP's responsibility to properly manage and secure them.