Creating menu with anchor link to post on category page

I’m trying to create a menu with anchor links to posts on a category page. I have a category that consists of 5 posts. When hovering over the categoryname in the menu, the submenu appears with the titles of the five posts. Each title should link to the anchor of the specific post on that page. How can I do that? I tried to make a custom menu with links like this, but that doesn’t work:

https://www.domain.nl/about-us/#post-4