You can disable the menu bar. For the setting to take effect you may have to exit and return to fullscreen/seemless mode. No need to shut down the virtual machine first.
Go to the settings of the machine. In "General" on the "Advanced" tab you can select: "Show in Fullscreen/Seamless" and there's an option to "Show At Top Of Screen".
In VirtualBox 5 the setting is under “User Interface” instead of “General”.
Best Answer
Because you're in scale mode which causes it to be hidden.
Host + C is the toggle for scale mode (where Host is Right Control by default)