If you're really looking to automate and control this, SSIS is the magic place for data movement within SQL Server.
However, if you want to stick to a command line driven mechanism, I'd look to two choices.
First, SQLCMD.EXE. This can absolutely control export to a CSV file. BCP is ancient technology, only there for backwards compatibility. SQLCMD is a better choice all round. It's easier to script and control, supports parameters and more.
Second, PowerShell is your buddy. You can easily export to a CSV file using a PowerShell command. Even more control than SQLCMD and you can combine your PowerShell scripts with the DBATools module to get really crazy with your automation.