A densely defined symmetric operator is by definition an operator $T$ with domain $D(T)\underset{dense}{\subset}\mathcal{H}$ such that $$\langle Tx,y\rangle =\langle x,Ty\rangle ,\quad x,y\in D(T)\quad (*)$$
Its adjoint $T^*$ is defined on the domain
$$D(T^*)=\{y\in \mathcal{H}\,:\, (\exists v\in\mathcal{H})\,(\forall x\in D(T)) \ \langle Tx,y\rangle =\langle x,v\rangle \}$$
For $y\in D(T^*)$ the element $v$ is unique because the domain $D(T)$ is dense. Thus we may define $T^*y=v.$ It is straightforward that $T^*$ is linear.
By $(*)$ we get $D(T)\subset D(T^*),$ hence the domain $D(T^*)$ is dense. We say that the operator $T$ is self-adjoint if $D(T)=D(T^*).$
If $T$ is bounded, i.e. $\|Tx\|\le c\|x\|$ for all $x\in D(T),$
then $D(T^*)=\mathcal{H}.$ Indeed, for any $y\in \mathcal{H}$ the functional
$$D(T)\ni x\mapsto \langle Tx,y\rangle $$ is bounded, hence by the Riesz theorem $$\langle Tx,y\rangle=\langle x,v\rangle,\quad x\in D(T) $$
for a unique element $v\in \mathcal{H}.$
Therefore the operator $T$ is self-adjoint iff $D(T)=\mathcal{H}.$
When $T$ is bounded then by continuity it can be extended uniquely to a bounded operator symmetric operator $\tilde{T}$ such that $D(\widetilde{T})=\mathcal{H}.$ By the previous reasoning $\widetilde{T}$ is self-adjoint.
Summarizing if $T$ is bounded, but originally defined on $D(T)\subsetneq \mathcal{H},$ then $T$ is not self-adjoint, but admits the unique self-adjoint extension.