In my opinion this is a philosophical question. The "fathers" of the concept of differentiation are Newton and Leibniz, and their primary intention was to analyze physical motion.
If you describe a moving object mathematically, then you get some function $f$ defined on a real interval $J$ corresponding to the linear flow of time with range $\mathbb{R}$, $\mathbb{R}^2$ or $\mathbb{R}^3$ (depending on which aspects you are interested in) corresponding to space. If the object moves at time $t_0$ through a point $s_0$, then there clearly exists an open interval $(t_1,t_2) \subset J$ which contains $t_0$.
Finding the speed at time $t_0$ means to compute the "usual" limit value of average speeds close to $t_0$. This gives the standard definition of $f'(t_0)$ for a function defined on an open interval.
However, to define $f'(t_0)$ it would be sufficient to assume that $t_0$ is a cluster point of $J \backslash \lbrace t_0 \rbrace$. The case that $t_0$ is an isolated point of $J$ doesn't make much sense - there is no limit.
In fact, this position is adopted in practical applications. It is standard to work with functions $f : J \to \mathbb{R}$ defined on non-open intervals, and without any concerns we consider the one-sided derivatives in the boundary points of $J$. If e.g. $J = [a,b)$, then we consider the right derivative in $a$ although $f$ is not defined on any open interval containing $a$. Okay, the situation here is rather nice because $(a,b)$ doesn't have "gaps", but to define the right derivative in $a$ we only need the fact that $a$ is a cluster point of $(a,b)$.
In multivariable calculus we deal with functions $f : U \to \mathbb{R}^m$ defined on open subsets $U \subset \mathbb{R}^n$. The derivative in a point $x_0 \in U$ is then defined as a linear map $Df(x_0) : \mathbb{R}^n \to \mathbb{R}^m$ such that $x \mapsto f(x_0) + Df(x_0)(x-x_0)$ is the "best approximation" to $f$ in $x_0$. Here it becomes more lucid why we require $U$ to be open: We need it to show that $Df(x_0)$ is uniquely determined. Again this assumption on $U$ could be weakened, but the price would be to use very technical (if not intransparent) conditions.