I think the best way to handle this (assuming I haven't misunderstood what you want) is to:
-remove the various cookie/sessions option from the User CP (through the usercp and register templates)
-Set the permissions so that only registered users can view the board (through the usergroup section of the CP)
-Change the error_nopermission template to suit you. This will be displayed as a front-page login box.
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