You have to disable all desktop icons in the Desktop configuration dialog in the Icons section. This will make the Application menu your right-click menu.
IMO, the easiest method would be to go ahead and install lxmenueditor (I do not think alacarte would work). If nothing else you will be able to add applications to the 'Network Analysis' after you manually configure it.
The XFCE wiki has a detailed set of instructions on how to manually configure your menu.
Best Answer
The main settings panel is
but, if you want to open specific settings dialog there are other commands to help you. Like
Other settings purpose can be easily derived from name.