If I understand well your question, I think that you can show your menu with the Expose Filter fature of Views:

first add the filter related with your taxonomy:

then select the type of your menu (for example: dropdown) to expose:

and finally, you can expose these filter to visitors, to allow them to select terms to see just the content related:

I hope I have understood, and that information be useful.

If I understand well your question, I think that you can show your menu with the Expose Filter fature of Views:

first add the filter related with your taxonomy:

then select the type of your menu (for example: dropdown) to expose:

and finally, you can expose these filter to visitors, to allow them to select terms to see just the content related:

I hope I have understood, and that information be useful. Here is an example of the view with results according a selection: