Sandbox

SELECT 
  * 
FROM 
  cscart_menus 
  LEFT JOIN cscart_menus_descriptions ON cscart_menus.menu_id = cscart_menus_descriptions.menu_id 
WHERE 
  cscart_menus_descriptions.lang_code = 'en' 
  AND cscart_menus.company_id = 1 
  AND cscart_menus.menu_id = 2 
  AND cscart_menus.company_id = 1

Query time 0.00040

Explain
id	select_type	table	type	possible_keys	key	key_len	ref	rows	Extra
1	SIMPLE	cscart_menus	const	PRIMARY	PRIMARY	3	const	1
1	SIMPLE	cscart_menus_descriptions	const	PRIMARY	PRIMARY	9	const,const	1

Result

menu_id	status	company_id	lang_code	name
2	A	1	en	Main menu