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By default, editable options are not available to non-admin users. You can try it out.
Non-admin users will not see the “Settings” and “Authentication” pages under the options.
They will only see the help options like “Getting Started”, or “Helpers”, or options that deal with page editing such as “Shortcode Replacement”.
If you want to remove everything, you have to use a different capabilities management plugin, but IMO, that is pointless, since your editors are anyway unable to change any options.