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library(tidyverse)

## ── Attaching packages ─────────────────────────────────────── tidyverse 1.3.1 ──

## ✓ ggplot2 3.3.6     ✓ purrr   0.3.4
## ✓ tibble  3.1.6     ✓ dplyr   1.0.8
## ✓ tidyr   1.2.0     ✓ stringr 1.4.0
## ✓ readr   2.1.2     ✓ forcats 0.5.1

## ── Conflicts ────────────────────────────────────────── tidyverse_conflicts() ──
## x dplyr::filter() masks stats::filter()
## x dplyr::lag()    masks stats::lag()

library(sf)

## Linking to GEOS 3.10.2, GDAL 3.4.2, PROJ 8.2.1; sf_use_s2() is TRUE

library(maps)

## 
## Attaching package: 'maps'

## The following object is masked from 'package:purrr':
## 
##     map

library(leaflet)
library(rnaturalearthdata)

brazil_sf <- countries110 %>% 
  st_as_sf() %>% 
  filter(name == "Brazil")

brazil_cities <- world.cities %>% 
  filter(country.etc == "Brazil",
         pop >= 1E6) %>% 
  st_as_sf(coords = c("long", "lat"), crs = 4326) %>% 
  arrange(desc(pop))

label only

leaflet() %>% 
  addPolygons(data = brazil_sf,
              fillColor = "darkolivegreen",
              fillOpacity = 1,
              color = "black",
              weight = 1
              ) %>% 
  addCircleMarkers(data = brazil_cities,
                   label = ~name)

## Warning: sf layer has inconsistent datum (+proj=longlat +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +no_defs).
## Need '+proj=longlat +datum=WGS84'

popup only

leaflet() %>% 
  addPolygons(data = brazil_sf,
              fillColor = "darkolivegreen",
              fillOpacity = 1,
              color = "black",
              weight = 1
              ) %>% 
  addCircleMarkers(data = brazil_cities,
                   popup = ~paste(name, pop))

## Warning: sf layer has inconsistent datum (+proj=longlat +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +no_defs).
## Need '+proj=longlat +datum=WGS84'

both

leaflet() %>% 
  addPolygons(data = brazil_sf,
              fillColor = "darkolivegreen",
              fillOpacity = 1,
              color = "black",
              weight = 1
              ) %>% 
  addCircleMarkers(data = brazil_cities,
                   label = ~country.etc,
                   popup = ~paste(name, pop))

## Warning: sf layer has inconsistent datum (+proj=longlat +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +no_defs).
## Need '+proj=longlat +datum=WGS84'