Apple Pencil needs reconnect after Bluetooth disabled?

I just got an Apple Pencil with iPad Air 3. And I have a habit which is disable Bluetooth when not using it, but I realized that once I need to use the pencil, I need to plug into the iPad, even though I did reopen the Bluetooth.

Does that means that the only way to reconnect it is to plug in? As I can’t press the reconnect screen in the Bluetooth settings, it insists me to plug in again. I could foresee that this would be way troublesome in a long run!