You you are using Management studio, you can try this:
- In your SQL Server Management Studio, right-click on the database where the table is and select Tasks->Export Data. This will bring up
the SQL Server Import and Export Wizard, which is very much similar to
the DTS Import/Export utility of SQL Server 2000.
- Select your table from the "Choose a Data Source" screen then click on Next.
- In the "Choose a Destination", select "Flat File Destination" as your Destination and enter the File name.
Just click on Next after that and you should be ok already.
You can also export it to xml using a query and then, on your app, convert it do csv. Check this out: FOR XML
Or, as @Aaron said, use The BCP Utility
EDIT
As you said you want the query way, I would go for the For XML
and them parse the result to a CSV format. AFAIK, SQL server does not have an way of doing what you want automatically, so you will have to make it yourself. Also, you can adapt this sample.
Here and here you can find some scripts that may help you.