It is possible to restrict access to the Zoom meeting, all you need to do is place your meeting shortcode located under (Zoom Meetings -> Settings -> Using Shortcodes) to pages that have restricted access configured by your membership plugin.
Here is an example of restricting a page with the Restrict Content Pro plugin.
Another example of restricting access specifically for a meeting is to "enclose" it in a restricted content shortcode using the parameters offered by the membership plugin. In this case, Memberpress.
[mepr-active ifallowed="show" membership="membership_id" unauth="message" unauth_message="Restricted members only content"]
[[zoom_api_link meeting_id="your_meeting_id"]]
[/mepr-active]