BD has the ability to do the right things with popular SEO plugins (e.g. Yoast). The scenario you describe above is a standard WordPress page that is output under an SEO plugin and ours follows those rules, with the exception of the "Content" aspect. The directory's pages vary depending on where you are at. It would be best if you browsed our demo to see what it looks like here: http://businessdirectoryplugin.com/business-directory/.
s2member is a membership plugin that restricts access to content on your site, it's not really a business directory plugin enabler per se. You can use it with BD to help manage access levels if you wish.