iPad Continuity - any way NOT to full screen on iPad?

I have the continuity feature setup on my iPhone/iPad/MacBook. Neat feature. But kinda annoying on the iPad when I get a phone call. On the MacBook, it has a little popup notification in the upper right. But on the iPad, it takes over the entire screen like a typical FaceTime call notification. I tried to set it to just a banner at the top, but for whatever reason it still takes over the screen.

Is there a way to set it correctly so the phone call notification does not take over the entire iPad screen? Aside from disabling it on the iPad of course. Thanks!