Daily prompts to login the icloud account

Apple keeps asking for the icloud password many times a day. I have three devices an iphone, Mac Mini and the Macbook Pro, running on the same Apple ID. I have been facing this issue for around 1 and a half years now. icloud keeps asking for password on all three devices minimum once a day. If i enter the password once on any of the devices then i am no longer asked again for the day, however if i don't enter the password and use the later option instead, then the icloud account gets locked and then i have to unlock it via the security questions everytime. I don't understand, the same problem is being faced another friend as well. The only reason that i can think of is that i dont have the two factor authentication turned on. And i dont want to turn it on as well. Same is the case with my friend she also has not turned on the 2 Facto Authentication for icloud. Can anyone provide with a solution for this?