TOPIC: How do I create sub-menus?

I now have domains to direct people to the 5 cities. 

Instead of listing the 5 city pages in my navigation menu, can I just have one tab for "cities" and then have a sub-list that pops up when hovering over the city tab where the 5 cities will be listed to choose from?

Yes, just create a menu item called Cities under Menus in your admin menu. Then when you create the new pages assign them to the Cities menu item (right next to where you give it the menu title, normally it says Navigation but you'll be changing it). You'll also want the cities listed at the bottom of your home page and linking to the appropriate page.

Did that but when I click on the cities tab in the  nav menu I get a DNS error.

That's because you linked it to www.righthomeinspections.com/cities/we/servcice.html which doesn't exist. Remember, you'll just be linking to a page there.