Pandora, iPhone and car stereo issue

Hi,

I usually connect my Iphone 5C to my car stereo via Bluetooth. The car stereo has a Pandora utility that allows to run it from the paired phone. I had no issues with my now-defunct Blackberry but with iPhone there is always this annoying message/alert asking me to "allow" Pandora to connect to the car. This is supposed to be a "security" option but it's rather the opposite, forcing you to pick up the phone, distract you from driving and (at least) makes you liable to get a ticket for texting while driving. Is there any way to disable this "security" option? Has anybody confronted the same issue out there?

Thanks,