How to keep personal hotspot connection from disconnecting when putting iPad in sleep mode.

So I recently started my iPhone as a personal hotspot. We are moving cross-country and I as a passenger would like to be able to use the internet on my iPad for emails, videos, etc. I tried it out and it works great! Only problem is when I need to take a break from the iPad, I put it in sleep mode by pressing the on/off button. When I do this and return to the iPad later, I have to reconnect the iPad all over again to the hotspot. This is frustrating because I have to turn off the personal hotspot on the phone, turn it back on, find it on the iPad, enter the password, and reconnect. Do I really have to do this each time I want to get back on the internet and use the iPad?

Thanks for any advice!