I have to create a new menu?
No, not really. I just thought you haven't created a custom menu yet.
As I mentioned above you'll just have to make the parent menu items null. This article should show you how: http://premium.wpmudev.org/blog/daily-tip-how-to-create-a-wordpress-menu-link-that-isnt-clickable/
Tip: since you used the logo option to fill the entire header, you could add this code on Asteroid Options -> Custom CSS so that there are no white space/gap when viewed on a mobile device.
#header {min-height: 0;}