Google+ Remove Circles from Public View on Profile Page

To make your people circles non-visible on your public profile:

Within Google+, in the upper right corner click on your icon, then Profile, then in the body of the page "Edit Profile".

Mouse over the circles of people in the left rail, click, and uncheck: "Show people in my circles" and "Show people who have added you to circles".

Note: People in the same circle will know about each other.