How to Get Nexus 6P to automatically set up VPN without asking when using Project FI

It seems inefficient to have to click yes whenever Android prompts about establishing a VPN connection on an open WIFI network when using Project Fi. ESPECIALLY when its the same open network that you repeatedly connect to on a daily basis. Surely there's a setting somewhere that will just have a VPN established whenever possible without being prompted? I've looked and haven't been able to find one.