How can I get a top bar like the one describe on the bottom.

Hello Eduardo!
Vaadin enables managing the priority of drawer panel and navigation panel, see: App Layout | Components | Vaadin Docs
In MainView try to use:
@Subscribe
public void onInit(final InitEvent event) {
getContent().setPrimarySection(AppLayout.Section.NAVBAR);
}

You can remove drawer toggle button, but in small screens drawer panel is hidden and won’t be opened without this button.
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thank you