One strategy to develop both accurate and computationally tractable models of jointed structures is reduced order modeling through hyper-reduced representations of the interfaces in contact. Hyper reduction refers to reduction techniques that result in a Reduced Order Model (ROM) that is complete by itself, i.e., all displacements and forces are fully described in the ROM coordinates directly. Focusing primarily on applications involving small relative displacement contacts, two fundamentally different approaches are formulated and compared for merits and limitations in applicability. The first is an adaptation of the stiffness-preserving RBE3 constraint elements, and the second is an interpolation approach based on remeshing the interface. Although RBE3 is extensively used in the literature, the current formulation derives stiffness preserving elements that are specifically useful for contact dynamics applications. Transformations are developed to express force–displacement relationships in the ROM coordinates that are congruent (in the sense of using the same contact models) as well as consistent (in the sense of being faithful to the quantities involved) with a high-fidelity model of the same structure. These approaches are applied to study a three-bolted lap-joint structure (the Brake-Reuß Beam (BRB) benchmark) that has been observed to demonstrate characteristic contact non-linearities. Multiple strategies for the hyper reduction are evaluated, including graph partitioning, finite element coarsening, and homogenization of field objectives, some of which involve an extra step of remeshing/choosing patches based on a field objective (e.g., contact pressure). The performances of the ROMs are assessed by conducting nonlinear modal analysis and computing a posteriori error metrics.