What you describe sounds like no fault of the amplifier. You never hear this pop unless you change source or use the menu, right? If it's not a loud noise, and you can ignore it when changing sources, then do so. If not, you may have to change the receiver out for another model to avoid this issue. While it seems unlikely, perhaps this is a grounding issue, or some sort of DC transient? You can try a ground loop isolator connected between the amplifier and receiver as a last resort; the isolator would remove both issues as possible variables.
-Chris