I've edited the content type Book to "create a new revision" whenever user publishes the page (while creation and editing the page).

I have created a custom menu Book revisions with path node/[node:nid]/revisions using menu token module. It renders http://site-url/4/revisions with 4 as the node id of current node.

When I first create a page, and click on this menu, it gives me Access denied page (I'm logged in as user1). But, the moment I edit the page and save it, it works as expected - showing the different revisions.
I want to display "No revisions" instead of "Access denied" to users. How can this be done?
I'm also open to suggestions to hide the menu for the first time, and again show it as soon as a revision of the node is created.