Welcome to the forum Kathryn.
All pumps have a parameter that must be met to avoid damage to the pump. That parameter is net positive suction head. Pump manufacturers will tell you what the NPSH is for a particular pump and if you try to get away with less, the pump will be damaged by cavitation over a period of time. The NPSH of a canister filter is usually given by the manufacturers in simple terms of minimum distance from the tank's water surface to the top or bottom of the filter. The particular reference point may be different between manufacturers and the minimum height difference between the water level and the filter will also vary by manufacturer. The thing you can be sure of is that if you ignore the recommendations, the filter's impeller will fail much sooner than it should because it will be destroyed by the cavitation. Cavitation is also quite noisy when it is severe which can make you think you have a noisy filter when all you really have is a badly set up filter. Some filters are made to run with the top almost at water level, such as the HOT Magnum by Marineland. Others, like the Rena and Eheim canister filters require quite a large height difference between the water level and the top of the filter. NPSH can be helped a bit by having the shortest practical hose which is why the set up instructions will tell you to position the filter properly then cut the hoses to what they consider the right length to provide for easy maintenance.