If you misclick while creating the cylinder, and the add mesh menu disappears, you can press F9 to get the menu back and set the vertex count.
This works for any ‘last operation’ menu, until you activate another operation.
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ok but what if I want to go back to tweak stuff after I did other operations ?
Just not possible. Like trying to unscramble an egg after you cooked it.
Depends on how far and what, I suppose.
You can only ever get the ‘last operation’ menu for the last thing you did (it’s sorta in the name ;D), however you can always undo and then do the last couple of actions again with whatever changes you want.
If the problem is with the creation of your base primitive, then you’ll either have to start over, or use modelling techniques to get what you want instead - like for instance subdividing or disolving for more or less geometry.
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I use Blender add-on reprimitive, if cylinder is still a cylinder, no mater u scaled or shaped it, with this u still can edit its primitive vertex value. Helped me alot 
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