1: How do I Change this message "You are not authorized to view this page!" (when an unregistered person looks at a Profile that is set to be viewed only Registered members )
You need to translate it within your CB language files. See the below page regarding language usage.
www.joomlapolis.com/cb-solutions/languages
You could also allow public profile access then use CB Auto Actions and setup a redirect action on the before profile display trigger to function for non-registered users only that'd redirect them away from the users profile with whatever message you want.
2: Also, on the Registration Page "Join Us" ..How do I Replace or Get rid of that
That's a language string and can be changed or removed by translating it within your CB language files. In general every string you want to change is going to be a language string and are all changed in the same way.
3: Finally "Edit your Details" ...How do I get Replace or Get Rid of that ?
Same as #2 and #1, language string.