Since CentOS 6.x is an old distro it lacks newer GCC and thus you can’t use things like stack protector and some of the PAX security stuff
What you can do however, is to install the SCL repo and from there the devtoolset-4:
# yum install centos-release-scl.noarch centos-release-scl-rh.noarch
# yum install devtoolset-4 devtoolset-4-gcc-plugin-devel.x86_64
The above will install gcc and g++ 5.2. But before jumping into building your kernel you need to also install:
# yum install libmpc-devel.x86_64 libmpc.x86_64
Which is needed for proper gcc-plugins support.
Now you can simply start building your kernel:
# scl enable devtoolset-4 bash
# cd /usr/src/kernels/linux-4.4.34
# make