Take that same HTML, but use .nav-pills instead:

<ul class="nav nav-pills">
  <li role="presentation" class="active"><a href="#">Home</a></li>
  <li role="presentation"><a href="#">Profile</a></li>
  <li role="presentation"><a href="#">Messages</a></li>
</ul>

Pills are also vertically stackable. Just add .nav-stacked.

<ul class="nav nav-pills nav-stacked">
  ...
</ul>

Related classes: