CoPilot: Hide icon or display permissions message for users who do not have access

Is it possible to hide the CoPilot icon for users who do not have permission to access it or to display a permissions error when they try to click into it's menu options? We've set up permissions for only 3 users. However, the icon appears in the cockpit for everybody and when they try to click on anything displayed within the various menus, nothing happens which is confusing folks. I read through the set up documentation and didn't notice a way to hide the icon or customize a message but I could have simply overlooked something. Thanks for any guidance you can provide!