When you do this, also temporarily disable Wi-Fi even if no Wi-Fi is available. Then the message should originate and go as SMS as soon as you hit the send arrow. That should give you effect you're looking for. If not, then also try updating iOS to the latest version which came out a week or two ago and also check for carrier settings update by going into Settings > General > About. Presumably, if a carrier settings update is available, you should get a pop-up saying so.
I did some testing. I disabled cellular data as well as Wi-Fi on the iPhone and sent a message to one of my regular iMessage correspondents. It originated and immediately sent and was delivered as SMS with no latent iMessage retroactivity so far. Then I re-enabled cellular data as well as Wi-Fi and disabled iMessage and sent a message. Same result but with the catch that disabling iMessage disables Text Message Forwarding so this one didn't get forwarded to Messages on my Mac. I also made sure iMessage was working normally with everything enabled before and after testing.
Although the latent, retroactive iMessage makes sense, at least conditionally, the original SMS, if actually acknowledged as sent, absolutely should not disappear or be replaced by a later iMessage. Yet, if it's not actually acknowledged as sent, it should be marked as Not Delivered ! sooner or later. So this sounds like a carrier SMS issue e.g. Delivery Acknowledgement (on top of the requisite Submission Ack) is enabled in carrier settings but not on carrier SMSC. Long story and a manifold measure of imagination as to how that could lead to the effect you're experiencing.
So you may be able to exactly get the effect you're looking for as stated above. On the other hand, there could be a carrier SMS issue at play that may cause you to have to live with the effect you've been experiencing.