You should be able to connect to the machine once and authenticate that device. On my mini, once a device was authenticated, restarting either the printer or the computer did not require re-authentication. Now, sometimes it wouldn't connect, I had to stop, restart the service, and then it would see and connect. And yes, it came to that screen saying to press the button but DID NOT require pressing the button, it then switched to authenticated.
This could be a problem with specific langauage packs of the computer operating system or your specific computer settings.
I do know this, the Printer is not causing the issue- this is software and your computer.