When I restrict access it takes the page off of the header menu. I want it to be clickable but to say you need X level membership or to redirect to the membership options page.
Make page visible but restrict access
Actually, if you want all of your restricted pages to appear on your menus and then redirect to the MOP you can do that with s2Member only. WordPress Dashboard → s2Member → Restriction Options → Alternative View Protection. Set Alternative View Protection to Off (no checkmark in the box) for Nav Menus.
If you need to do it on a page-by-page basis, then the plugins recommended by Tim (@KTS915) are you best option.