Samsung Keyboard would be better if

[Austin1111]

The toolbar for physical keyboard had a popup option. It takes up too much screen real estate pinned to the bottom of the screen. 

[Pianodude58]

You can make it a floating keyboard

[CEParsons]

You can also hide the toolbar altogether and access those options via the button to the left of the keyboard.

[HarvesterOfEyes]

Try Keys Cafe (part of Goodluck) and you can do almost anything you want to make it custom.