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To achieve this, you can add this line to your constructor method for the controller:

 public function __construct(){       
    parent::__construct("member");         
    // The rest of constructor code if any      
}

This will mark the controller and its subsequent actions accessible only to logged in users, it is used in the account controller(http://yourdomain.com/account). If you want certain actions to be accessible by members only, you can add these lines to the action methods instead:

    $this->access = "member";        
    $this->handleAccess();

If you dont understand terms such as controller and actions, please let me know and I will explain further.