These spinless bosons correspond to the spontaneously broken internal symmetry generators, and are characterized by the quantum numbers of these.
They transform nonlinearly (shift) under the action of these generators, and can thus be excited out of the asymmetric vacuum by these generators. Thus, they can be thought of as the excitations of the field in the broken symmetry directions in group space—and are massless if the spontaneously broken symmetry is not also broken explicitly.
If, instead, the symmetry is not exact, i.e. if it is explicitly broken as well as spontaneously broken, then the Nambu–Goldstone bosons are not massless, though they typically remain relatively light; they are then called pseudo-Goldstone bosons or pseudo–Nambu–Goldstone bosons (abbreviated PNGBs).
^Anderson, P. W. (1958-05-15). "Coherent Excited States in the Theory of Superconductivity: Gauge Invariance and the Meissner Effect". Physical Review. 110 (4). American Physical Society (APS): 827–835. Bibcode:1958PhRv..110..827A. doi:10.1103/physrev.110.827. ISSN0031-899X.