How can I stop the notes bar from automatically opening when I am taking notes on a PDF?

I use an apple pencil to take notes on pdf files. Prior to the IOs 13 download, I could take notes using the pencil and then move or zoom the screen using my fingers. After the download/update, the page side bar automatically opens and the pencil icon in the top corner automatically selects, and the new color palate/ highlighter, pencil, or pen open when I make a mark with my pencil. Then if I try to use my finger to move the screen, it is also now a pen and I draw more. I want only the apple pencil to write and my finger to continue moving the screen. Now I have to deselect the the pencil icon in the top corner every time I need to change the page and then write and then unselect again which is a pain when trying to keep up with a lecture. Is there a way to change the settings so the side bar/ color palate/ pencil icon don't all automatically open/ select when I use my apple pencil? Or a setting so only my apple pencil will draw and not my fingers?