Possible to change error message 403?

If a registered user clicks on a main menu item which has access "special" the 403 error message appears in full page.

Is it possible to instead show a message saying that they are not allowed to view the content due to access restrictions (I do not want to show an "error"). Possible?

I think that this is not possible, Joomla returns always 403 error when something is not available for some user. For sure advanced extensions provide you this possibility but with core Joomla! code it is not possible.