To save a copy of your annotated PDF for future viewing using the document viewer or any other PDF viewer that supports annotations:
File ▸ Save a copy
Choose a name and folder in which to save the file, then click Save. The PDF will be saved in the folder you chose.
Annotations are added according to the PDF specification. Therefore, most PDF readers should be able to read them. The Okular document viewer does not support them. Adobe Reader is known to work.