1- Define the administration url to block, which can be very precise or global
For instance, set "com_menus" for "option" setting, to block all the whole Menu feature,
For instance, set "option=com_menus&view=items&menutype=hidden-menu" to block one type of menu.
In this step you will also define which groups of users (or individual users) should not have access (image underneath) :
2- Display a message to the connected user, letting him know he is not allowed to access to the menu feature
3- Redirect the user to a url of your choice
Steps 2 and 3 will be excuted simultaneously, and the user will read the message on the redirected url.