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You are experiencing what all landscape photographers wrestle with...high contrast or "high dynamic range"...that is, if you expose for the bright area, the shadows will be too dark and if you expose for the shadows, the sky will be blown out.

The reason this happens is because your eye can see a much wider range of contrast (from dark to light) while your camera sees a narrower range.

There are a couple ways to deal with it. The first way is with graduated neutral density filters you place in front of the lens when you are taking your image (search for "ND grad filter" in the search area). You use one of these to "push back" or "darken" the bright area of your image so you can expose for the foreground. They come in different strengths that you can use for different contrast situations.

Another way is to use a technique where you take 3 or more images and combine them together in post-processing. You take one exposed for the bright area, one for the dark area, and one somewhere in the middle. This technique is called "HDR" for short...high dynamic range imagery. When done properly, it works pretty well...but be aware that it's easily overdone.

As a side note, you are shooting in the right time of the day. Early or late in the day is the best time to take landscape photos. The light is fantastic and there are nice shadows that give depth to images.

Hope that helps!