Find this code in the navbar template.
Code:
<if condition="$show['communitylink'] AND $show['popups']">
<td class="vbmenu_control"><a id="community" href="$show[nojs_link]#community" rel="nofollow" accesskey="6">$vbphrase[community]</a> <script type="text/javascript"> vbmenu_register("community"); </script></td>
<else />
<if condition="$vboptions['enablememberlist']">
<td class="vbmenu_control"><a href="memberlist.php$session[sessionurl_q]">$vbphrase[members_list]</a></td>
</if>
<if condition="$show['quick_links_groups']">
<td class="vbmenu_control"><a href="group.php?$session[sessionurl]">$vbphrase[social_groups]</a></td>
</if>
</if>
Delete the code in red and the member list will no longer be shown to guests.