You can do this in code, at least; I'm the type to forsake Interface Builder and go it in code anyway. IB seems to get in my way more often than not when it comes to adding or tweaking constraints. Here's what I've done in my custom UIToolbar subclass's -initWithFrame: method.
- (instancetype)initWithFrame:(CGRect)frame {
    if (self = [super initWithFrame:frame]) {
        [self addSubview:self.label];
        [self addConstraint:[NSLayoutConstraint
                             constraintWithItem:self.label
                             attribute:NSLayoutAttributeCenterX
                             relatedBy:NSLayoutRelationEqual
                             toItem:self
                             attribute:NSLayoutAttributeCenterX
                             multiplier:1 constant:0]];
        [self addConstraint:[NSLayoutConstraint
                             constraintWithItem:self.label
                             attribute:NSLayoutAttributeCenterY
                             relatedBy:NSLayoutRelationEqual
                             toItem:self
                             attribute:NSLayoutAttributeCenterY
                             multiplier:1 constant:0]];
    }
    return self;
}
And since I like to lazy load as much as possible, here's my self.label instance variable (called when [self addSubview:self.label] gets messaged above).
- (UILabel *)label {
    if (_label) return _label;
    _label = [UILabel new];
    _label.translatesAutoresizingMaskIntoConstraints = NO;
    _label.textAlignment = NSTextAlignmentCenter;
    return _label;
}
Seems to work for me. I'm not adding any UIBarButtonItems, though, so your mileage my vary.