One very simple way to do this is to create a Joomla menu item that links to a page that shows all events of that category.

While browsing events, on the left side bar where you can see event categories, click on a category. That shows all its events.

Make a Joomla menu item of the type URL and set it to the ES page. Example: yoursite.com/categories/myeventtype

Now if you click on the main menu link, it should show all events with that category.

As a brad workaround for a very small site this might work. If you need to deal with different URLs and https vs. non https sites this wouldn´t be possible.