I've been having this problem as well. What I've found is 'painter' or 'zbuffer' keeps the titles and axes:
(as opposed to set(gcf,'Renderer','OpenGL').
However other problems show up:
painter rendering does does seem to support RGB cdata (i have a patched object which disappears when i used painter rendering,
zbuffer rendering does not allow transparency.
This are things which I need to show so fixing the title and axes position has created these other problems.
But if you need the title and axes and don't need to worry about transparency or patch coloring, the other renderings would fix your problem.