There is, it's the Clear History and Clear Cookies and Data settings.....is this what you mean?
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I have cleared these in Safari settings. I expected this to clear the drop down list in the URL field in Safari.
But typing eg 'w' shows a list of sites I have visited starting with this - see attached
Was I wrong to expect this to be cleared?
In Safari I have now cleared what I understand you to mean by the bookmarks bar -see attached.
Trying eg 'w' in the URL field still produces the same list of sites I have visited.
That's it then. There is nothing else to clear. The remaining sites are in a buffer that you can not erase. They will eventually drop out as new sites are added. Mail does the same thing with email addresses.