I found out the answer is indeed to create the control or controls programmatically. In VB.Net I first declared a new instance of the control:
Friend WithEvents Map1 As New ESRI.ArcGIS.Controls.AxMapControl
Then, following the InitializeComponent call, added the control:
Me.Controls.Add(Map1)
Finally, during the form load, call a routine that defines placement, anchor, etc.
Thanks to Aditya Tadakaluru for pointing me in that direction.