Can my airpods prompt me before autoconnecting to devices?

I have my airpods paired with many devices (phone, PC, car, etc.). It is just very flakey and annoying. For example, I am listing to music on my phone and boot up my computer for work and my pods will automatically disconnect from the phone and connect to the computer in spite of actively playing something on the phone. Or my husband will turn my car on and then the phone disconnects from my headphones and connects to the car unprompted. It is very annoying. Is there a way to have my headphones NOT disconnect if already connected to something else or at least prompt me? I don't want to unpair everything and repair every few hours or every day. It takes several minutes to pair to car especially with passwords etc and it is quite annoying. Trying to find a solution for this?