Menu Link To Specific Posts – codex says possible but its not?

Hi
I have a site setup that means I want to use the wordpress menu system builder for my menu. I need to link to some pages, but importantly I need to be able to link to specific posts.

Currently I believe I can only link to the post via custom links, or linking to the category but one can provide a link direct to the post with the user interface.

I am pretty sure I am correct on this – but hope I am not and there is a solution.

however the codex says this:

Posts

Links to specific posts can be added to the menu. Three tabs, Most Recent, View All, and Search, determines what posts are displayed for selection as a menu item.

http://codex.wordpress.org/Appearance_Menus_Screen

Hope you can help

Thanks