Changes to phone answering behavior after update - any settings or apps to change?

After one of the last updates, answering the phone changed from swiping sideways to upwards, but much more importantly for me, when the phone is on any active screen, instead of the call taking over the full screen so it's easy to answer, a small "answer" or "dismiss" box appears at the top of the phone. I've now missed calls because of this.

Is there anywhere this can be changed back to the previous behavior, and if not, are there any apps that allow customization of the answer/dismiss screens?

Thanks