Disable automatic pairing notifications (Airpods / AppleTV)

Often times, in public, I get pop up notifications for Airpods pairing, or an Apple TV nearby, or to share a contact or similar.

One option is to turn off bluetooth, but if I am using my own airpods at the moment, this is obviously not viable.

Isn't there an option to prevent these kind of popup messages from appearing without me wanting to pair? If I want to go into "pairing" mode or similar, I should be able to go into settings and turn it on. Without that, nearby devices should not be able to bug me with these requests.

See the attached image for an example notification