No you have to use the pin, fob or the app on your phone every time.
If you don't want to enter your pin every time, then you can just attach the fob to your keys...but that defeats the purpose...if someone got your keys, they got your truck.
The app is fine, you have to open and activate the app and then you are good to go. But if you are close enough, the bluetooth may think you are in the truck when you aren't, and then, they have your truck. So turn the app one while walking to your truck and turn it off when you leave it.
I just stick the the pin myself when i drive.