I'm assuming you are talking about Synchronous mode... To make the two holes concentric, use the Face Relate tools and create a persistent Concentric relationship.
Use the same process to make their axis' coplanar but use the Coplanar Axis relationship.
Although Ken's answer is technically correct -- you CAN make a persistent relationship, you don't need to. This is what Synchronous is all about -- if you draw the holes concentric, they will stay concentric throughout modifications, with no further action from you. If you draw two faces coplanar, they will stay coplanar with no further action from you.