Hiding pages after log in??

Is there a way to make certain pages not available when a user logs in.

Example

When you are not logged in you can see the profile, log in and sign up pages. If you click on the profile tab it will say, “You’re unauthorized to view this page. Why don’t you Login and try again.”

When you are not logged in there is no reason to display the profile tab. And once you are logged in the Log in and Sign up tabs are no longer needed so they should disappear.

Is there a way to do this?