Index: src/wp-admin/nav-menus.php
===================================================================
--- src/wp-admin/nav-menus.php	(revision 32696)
+++ src/wp-admin/nav-menus.php	(working copy)
@@ -563,6 +563,21 @@
 		<?php if ( $num_locations && $menu_count ) : ?>
 			<a href="<?php echo esc_url( add_query_arg( array( 'action' => 'locations' ), admin_url( 'nav-menus.php' ) ) ); ?>" class="nav-tab<?php if ( $locations_screen ) echo ' nav-tab-active'; ?>"><?php esc_html_e( 'Manage Locations' ); ?></a>
 		<?php endif; ?>
+		<?php
+			if ( current_user_can( 'customize' ) ) {
+				printf(
+					' <a class="add-new-h2 hide-if-no-customize" href="%1$s">%2$s</a>',
+					esc_url( add_query_arg(
+						array(
+							array( 'autofocus' => array( 'panel' => 'menus' ) ),
+							'return' => urlencode( wp_unslash( $_SERVER['REQUEST_URI'] ) )
+						),
+						admin_url( 'customize.php' )
+					) ),
+					__( 'Manage in Customizer' )
+				);
+			}
+		?>
 	</h2>
 	<?php
 	foreach( $messages as $message ) :
Index: src/wp-includes/admin-bar.php
===================================================================
--- src/wp-includes/admin-bar.php	(revision 32696)
+++ src/wp-includes/admin-bar.php	(working copy)
@@ -732,9 +732,30 @@
 		}
 	}
 
-	if ( current_theme_supports( 'menus' ) || current_theme_supports( 'widgets' ) )
-		$wp_admin_bar->add_menu( array( 'parent' => 'appearance', 'id' => 'menus', 'title' => __('Menus'), 'href' => admin_url('nav-menus.php') ) );
+	if ( current_theme_supports( 'menus' ) || current_theme_supports( 'widgets' ) ) {
+		$wp_admin_bar->add_menu( array(
+			'parent' => 'appearance',
+			'id'     => 'menus',
+			'title'  => __( 'Menus' ),
+			'href'   => admin_url( 'nav-menus.php' ),
+			'meta'   => array(
+				'class' => 'hide-if-customize',
+			),
+		) );
 
+		if ( current_user_can( 'customize' ) ) {
+			$wp_admin_bar->add_menu( array(
+				'parent' => 'appearance',
+				'id'     => 'customize-menus',
+				'title'  => __( 'Menus' ),
+				'href'   => add_query_arg( urlencode( 'autofocus[panel]' ), 'menus', $customize_url ), // urlencode() needed due to #16859
+				'meta'   => array(
+					'class' => 'hide-if-no-customize',
+				),
+			) );
+		}
+	}
+
 	if ( current_theme_supports( 'custom-background' ) ) {
 		$wp_admin_bar->add_menu( array(
 			'parent' => 'appearance',