How can I customize my kernel configuration? I mean use same kernel version as Ubuntu offered.
You would need to recompile the kernel to change the configuration. Some configurations are known incompatible with Ubuntu userspace: these are documented in the enforce file. Self-built kernels are typically not supported by Ubuntu Developers, so take care when building such kernels.
The documentation with the procedure you ought follow is at https://help.ubuntu.com/community/Kernel/Compile