Look for the Link icon at top-left on any Google Maps page, and use the one line of code to embed the map.
The embedded map will be just about the exact view you have on the screen: zoom level, layers, satellite imagery, etc. You can even embed a scene from Street View. All views will be interactive once embedded.
No need to seek permission. The embedded map will be properly attributed and you are free to use.
If you need a simple, non-interactive image of a map (say, your CMS doesn't support iframes), explore the Static Map Wizard.