What you are looking for is in the documentation for this component here.
Simply create a toolbar and put it wherever you want, then set up the target actions to call one of the following methods:
- (void)openLeftMenu;
- (void)openLeftMenuAnimated:(BOOL)animated;
- (void)openRightMenu;
- (void)openRightMenuAnimated:(BOOL)animated;
- (void)closeLeftMenu;
- (void)closeLeftMenuAnimated:(BOOL)animated;
- (void)closeRightMenu;
- (void)closeRightMenuAnimated:(BOOL)animated;
As for the navigation bar, I would not recommend putting it on the bottom. This goes against iOS design principles and is unexpected. Perhaps you want to put a regular UIToolBar on bottom, that would be typical.