Your canvas is contained in a view, so place the button below that view.
android:layout_below="@+id/yourCanvasViewId"
Check out the RelativeLayout developer guide.
To do this in code, you could do something like this:
int canvasViewId = 1;
myCanvasView.setId(canvasViewId);
Button button = new Button(this);
button.setText("Button");
RelativeLayout.LayoutParams params = new RelativeLayout.LayoutParams(ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT);
//set view to be laid out below canvas view
params.addRule(RelativeLayout.BELOW, canvasViewId);
myRelativeLayout.addView(button, params);