how do you create this customize menu using wp_nav_menu function?

You can to pass class into function arguments:

‘menu_class’
(string) CSS class to use for the ul element which forms the menu. Default
‘menu’.

So you can try this:

<?php 
$args = array(
    'menu_class' => 'nav header-nav header-bottom-nav nav-center  nav-
uppercase',        
    'menu' => '(your_menu_id)'
);
wp_nav_menu( $args ); 
?>

You can read about WordPress Menus. I suggest the following:
http://www.wpbeginner.com/wp-themes/how-to-add-custom-navigation-menus-in-wordpress-3-0-themes/
http://codex.wordpress.org/Navigation_Menus