Yes, you can change the amount of time that the menus stay available on your CM-7004 screen.
Press the Menu button on the remote control. Navigate the highlight to 'Settings' and then navigate right once. The "Banner Timer Out" is at the top of the "User" Settings list. (Yellow Button to bring up "User Settings") If Banner Time Out is not visible, then 'navigate up' until you see it. Now you can press the OK/Select button to change the setting to 3 seconds, 6 seconds, or 9 seconds. Press the exit button after your selection.