Google search results site map?

I was wondering how to achieve the following when searching for my website on Google. I've tried searching around for it but I'm not sure what the exact term is so I haven't gotten anywhere.

Basically, when my website is searched in Google, I'd like the subpages to be indexed like shown in the image below, instead of coming up as another result. Is this possible or is it something that Google does for you?

Take a look at this screenshot:

Google calls them sitelinks.

You can’t enforce them currently:

We only show sitelinks for results when we think they'll be useful to the user. If the structure of your site doesn't allow our algorithms to find good sitelinks, or we don't think that the sitelinks for your site are relevant for the user's query, we won't show them.

At the moment, sitelinks are automated.

For encouraging Google to display them for your site, see the question on Webmasters SE:

What are the most important things I need to do to encourage Google Sitelinks?

They also have a "sitelinks" tag.