After seeing the following Dribbble shot, I figured it was probably the best solution for the sliding view controller on iOS7.

SCSlidingViewController allows you to set one (or two) view controllers to be full height on iOS7 so that the color behind the statusbar can be controlled, while the top view sits below the status bar as per iOS6.

In your RootViewController.m, do the following to instantiate the left and right (either can be omitted) sides.

#import "RootViewController.h"
#import "TopViewController.h"
#import "MenuViewController.h"

@interface RootViewController () <SCSlidingViewControllerDelegate>

@end

@implementation RootViewController


- (void)viewDidLoad
{
    // Initial view controller, setup the views to be used.
    [super viewDidLoad];
    self.topViewController = [self.storyboard instantiateViewControllerWithIdentifier:@"Top"];
    self.leftSideViewController = [self.storyboard instantiateViewControllerWithIdentifier:@"Menu"];
    self.rightSideViewController = [self.storyboard instantiateViewControllerWithIdentifier:@"Context"];
}

@end

In your RootViewController.h file, make sure you subclass SCSlidingViewController

#import <UIKit/UIKit.h>
#import "SCSlidingViewController.h"

@interface RootViewController : SCSlidingViewController

@end

From any of your other view controllers, when you want to change the topViewController, simply call:

[self.slidingViewController changeTopViewController:[self.storyboard instantiateViewControllerWithIdentifier:@"YOUR VIEW CONTROLLER NAME"]];

The following are exposed (and should be straight forward in terms of functionality).

@property (nonatomic) BOOL allowOverswipe;
@property (nonatomic) int topViewOffsetY;
@property (nonatomic) int peakAmount;
@property (nonatomic) CGFloat peakThreshold;
@property (nonatomic) CGFloat cornerRadius;
@property (nonatomic) CGFloat shadowOpacity;
@property (nonatomic) CGFloat shadowOffsetX;
@property (nonatomic) CGFloat shadowOffsetY;
@property (retain, nonatomic) UIColor *shadowColor;
@property (nonatomic) CGFloat animationDuration;

peakThreshold will affect the panning gesture when opening a side. If the view controller is panned more than the percentage amount of the window frame width minus the visible amount of the view controller when being peaked, the view controller will be displayed, otherwise the top view controller will snap back to the original position.

allowOverswipe prevents the view controller from displaying the opposite side from being viewable when panning.

The following events are called when the top view is changed (but are not triggered via self.topViewController modifications).

- (void)willChangeTopViewController;
- (void)didChangeTopViewController;

1. Test on iOS6, though some small preliminary tests have been done and it seems to work.
2. Ability to round corners of content in UINavigationController