This issue came up recently for me (and I've been prompted to lodge it as a specific question about it):
My system is not dual-boot, I run a standard Ubuntu desktop system "on the metal" (I think running it in a VM is the same).
Pressing c while booting does not cause the GRUB menu to appear (which I believe it does for a dual-boot system).
How can I get the GRUB-menu to present itself on a single-boot system?
Menu will appear if you press and hold Shift during loading Grub, if you boot using BIOS. When your system boots using UEFI, press Esc.
For permanent change you'll need to edit your /etc/default/grub file -- place a "#" symbol at the start of line GRUB_HIDDEN_TIMEOUT=0.
Save changes and run sudo update-grub to apply changes.
Documentation: https://help.ubuntu.com/community/Grub2
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