In Ubuntu you can configure the Boot Menu by using the Startup manager. It can also be used to change your ubuntu splash screen. Some other features of Startup manager is to password protect your boot loaders and secure system boot. It comes with GUI, so you can easily configure it.
Install Startup manager On Ubuntu:
Open your terminal app and run the below command.
sudo apt-get update
Then type your Ubuntu password if asked. After that run the below command in terminal. It will install the latest version of Startup manager on Ubuntu.
sudo apt-get install startupmanager
After the installation go to System-> Administration-> StartUp-Manager. It will open the StartUp-Manager change the settings according to your taste. Thats all.
Note: Startup Manager no longer available on newer versions of ubuntu. i will update this artcle soon.