Universal control over a bosonic degree of freedom is key in the quest for quantum-based technologies. Such universal control requires however the ability to perform demanding non-Gaussian gates -namely, higherthan-quadratic interactions at the level of the bosonic operators. Here we consider a single ancillary two-level system, interacting with the bosonic mode of interest via a driven quantum Rabi model, and show that it is sufficient to induce the deterministic realization of a large class of Gaussian and non-Gaussian gates, which in turn provide universal bosonic control. This scheme reduces the overhead of previous ancilla-based methods where long gate-sequences are required to generate highly populated targets. In fact, our method naturally yields the high-fidelity preparation of multi-squeezed statesi.e., the high-order generalization of displaced and squeezed states -which feature large phase-space Wigner negativities. The universal control is further illustrated by generating a cubic-phase gate. Finally, we address the resilience of the method in the presence of realistic noise. Due to the ubiquity of the considered interaction, our scheme might open new avenues in the design, preparation, and control of bosonic states in different setups.