You have 2 ways to achieve this:
1) Force all CPT to use own capabilities, like ‘edit_videos’ for ‘Video’ CPT, etc. Use similar checkbox under ‘Edit restrictions’ section at Settings->User Role Editor->Additional modules tab. You may need to go through your roles to check if they do not lose needed access, like Media Library item editing, which will use edit_attachements instead of edit_posts.
or
2) User Admin menu blocking add-on to block admin menu items for CPTs unneeded to this role.
