How can I make vim "command mode" the default mode for terminal I use vim commands in my terminal.. 
But by default, the mode when I open up terminal is the "insert mode". 
Is it possible to enter in "command mode" when I open a terminal session?
No there in no way to start your terminal in command mode.

The set keymap setting is used to customize the keymap within terminal. A line with set keymap vi-command means that mappings below that line apply to command mode; a line with set keymap vi-insert means that mappings below that line apply to insert mode. For more details see: http://vim.wikia.com/wiki/Use_vi_shortcuts_in_terminal

But starting from bash version 4.3 you can change your prompt to highlight which mode you are currently in by putting set show-mode-in-prompt on in your ~/.inputrc file. This with put either (ins) or (cmd) at the start of your prompt. You can further customize it by using command:

set vi-cmd-mode-string "\1\e[1;31m\2(cmd)\1\e[0m\2" -- will give light red color

set vi-ins-mode-string "\1\e[1;35m\2(ins)\1\e[0m\2" -- will give light purple color

You can pick any of the following color by their ANSI codes:

Black            \e[0;30m
Blue             \e[0;34m
Green            \e[0;32m
Cyan             \e[0;36m
Red              \e[0;31m
Purple           \e[0;35m
Brown            \e[0;33m
Gray             \e[0;37m
Dark Gray        \e[1;30m
Light Blue       \e[1;34m
Light Green      \e[1;32m
Light Cyan       \e[1;36m
Light Red        \e[1;31m
Light Purple     \e[1;35m
Yellow           \e[1;33m
White            \e[1;37m