Change url-structure for wordpress pages – pages in strucutre not top-level

Best solution would be just if wordpress would use the structure from
my wordpress menu.

The system doesn’t work that way. Menus structure and URL structure are not tied together. You could probably alter permalinks such that this would be the case but it would be a complicated project and potentially cause substantial strain on server resources.

The simplest thing to do is to create nested pages via the backend.

  1. Create a page called “Services”
  2. Then create all of the other pages as children of that “Services”
    page.

The URL structure would by default be like that you describe (assuming that pretty permalinks are enabled and working). Make your menu match.