Signed in with my Apple ID on a friend’s device
Yes. Simply visit iCloud website using a desktop browser and login with your Apple ID. Go to Settings. Under My Devices section, you should be able to see your friends iPhone. Click on the device and click on the blue button with cross to remove it from your account.



If you don’t see the Delete button, click Remove Device (below the device’s serial or IMEI number).

Refer to this help article for more details:


https://help.apple.com/icloud/?lang=en-us#/mm25565a6496