There currently is not a setting to automatically collapse the left hand menus. However, you can leverage your own global javascript file to call the click event that is set on the id of the H3 for the toggler. To add your own global js file, add the following to your MY_fuel.php: $config['fuel_javascript'][] = array('my_js');
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The [li] for a fuel menu's active page is given a class of "active" when on that page. Again, it's down to your CSS & JS as to what to do with it.
$config['fuel_javascript'][] = array('my_js');