When dealing with permissions in views and taglibs, you can use the AuthorizeTagLib that's provided by the plugin.
For example, if you don't want a menu item to appear in your list for unauthenticated users, you might use:
<g:isLoggedIn>
<li>Restricted Link</li>
</g:isLoggedIn>
If you have more specific roles defined and those roles are tied to your controller/action request mapping, you can use other tags, such as:
<g:ifAllGranted role="ROLE_ADMINISTRATOR">
<li>Administrator Link</li>
</g:ifAllGranted>
In my experience, there's not yet a good way to tie the request mapping to your markup - I think you're going to have to use some of the above tags to limit access to content within a particular GSP.
I think that Burt Beckwith has a future modification (and is currently providing a beta version) to the plugin that integrates some ACL stuff that might solve this problem better in the future, but for now, I think the best approach is a hybrid request map + GSP tags one.