Use Acrobat DC Pro to configure the PDF file's Properties.
Specifically, within the "Initial View" tab for the "Navigation tab" select
"Pages panel and page"
For PDFs that do not have an initial view set can be set to open in a default view by editing Acrobat's/Reader's default view by editing the application's preferences. You will find Preferences under the menu "Edit" option.
With Acrobat you can change a PDF's initial view as long as the PDF is not locked by editing the Properties of the PDF. Look under File.