I've been having this issue for probably over a year. I do believe there is a fix that I've come across on several other sources so adding here since it's not here.
Go in to Settings, And then your AirPods. If not already showing in Settings go to Bluetooth and then your AirPods.
Under the section called "Calls Controls", the last one is "End Call" and by default it's set to Press Twice. Change this to Press Once.
My understanding is this work around will fix the the Mute / Unmute for coming back up. I'm currently testing and will report back if that is not the case. I would be curious if switching back to Press Twice would bring the problem back as just the adjustment may be jiggling something in the code to make it seen and accepted vs. it keep coming up like its the first time.
The other possible fix might be removing the AirPods from you Apple Account and re-adding them. Not sure I believe that would fix it as you'd at least see it once thinking its new AirPods when you add back.
Right now I'm hoping I NEVER see this screen pop up again.