My iPhone 6s is getting unlocked by using Touch ID but home screen is not coming directly

That is working the way it is designed. Touch ID will unlock the device, however to see the home screen, you have to press the home button. That is shown at the bottom of the screenshot you provided. As you can see, it says, Press home to open.

What happens after the device is unlocked by Touch ID? What are you seeing if you are not seeing the Home Screen?