We report on various magnetic configurations including spirals and skyrmions at the surface of the magnetic insulator Cu$_2$OSeO$_3$ at low temperatures with a magnetic field applied along <100> using resonant elastic X-ray scattering (REXS). We observe a well-ordered surface state referred to as a distorted tilted conical spiral (TC) phase over a wide range of magnetic fields. The distorted TC phase shows characteristic higher harmonic magnetic satellites in the REXS reciprocal space maps. Skyrmions emerge following static magnetic field cycling and appear to coexist with the distorted TC phase. Our results indicate that this phase represents a distinct and stable surface state that does not disappear with field cycling and persists until the field strength is increased sufficiently to create the field-polarized state.