While a PDF's "Initial View" cannot be set with Adobe Reader it can be set using Acrobat XI Pro.
For a single PDF - Open the PDF with Acrobat. Open the PDF's document properties (Ctrl+D or Cmd+D).
Select the "Initial View" tab.
Under this tab there is an entry "Navigation tab" which has a drop-down menu. On the menu you will observe several choices.
--| Page Only
--| Bookmark Panel and Page
--| Pages Panel and Page
--| Attachments Panel and Page
--| Layers Panel and Page
When there are many PDFs for which you want to set the Initial View you can create an Action with Acrobat XI Pro. The Action can be used to process many PDFs in one go.