In VB.NET 2010, go to Project → My Project → Application→ View Windows Settings.
You'll see the default manifest. From here, you can change it as you desire.
For example, in this case, to require UAC elevation when the application launches, change:
requestedExecutionLevel level="asInvoker" uiAccess="false"
to
requestedExecutionLevel level="requireAdministrator" uiAccess="false"
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