If you want to register Customer module just register it via XML file in .../Kernel/Config/Files/yourConfigName.xml like this:
<ConfigItem Name="CustomerFrontend::Module###MyCustomModule" Required="0" Valid="1">
<Description Translatable="1">Frontend module registration for the customer interface.</Description>
<Group>Ticket</Group>
<SubGroup>Frontend::Customer::ModuleRegistration</SubGroup>
<Setting>
<FrontendModuleReg>
<Description>My Module Desc</Description>
<NavBarName>Ticket</NavBarName>
<Title>My Module</Title>
<NavBar>
<Description Translatable="1">My Module desc</Description>
<Name Translatable="1">My Module</Name>
<Block></Block>
<Type>Submenu</Type>
<NavBar>Ticket</NavBar>
<Link>Action=MyCustomModule</Link>
<LinkOption></LinkOption>
<Prio>600</Prio>
</NavBar>
</FrontendModuleReg>
</Setting>
</ConfigItem>
Don't forget to name the module accordingly "MyCustomModule.pm" and in the module itself change the name of autoloaded module