While Apple's documentation says UIToolbars should always appear near the bottom, you technically can place them at the time and your app will still be accepted. Many apps do use a toolbar at the top of the screen.
Best way
Use a UINavigationController.
It is not a lot of overhead and it has more advantages in the long run than a UIToolbar.
Advantages:
- You get a title placed on the top bar (UINavigationBar) for free. (No need to create a UIBarButtonItem or UILabel for that.)
- In the future, if you decide you do want a segue, you won't have to refactor and put a navigation controller in there. (Extensibility is a good coding practice to get in the habit of.)
tl;dr - Feel free to use a UIToolbar if you want something simple. Use a UINavigationController if you want to do it the "right" way and want to follow Apple's guidelines.